Persistence Analysis of Discrete-Time Interconnected Positive Systems and its Application to Mobile Robot Formation

Shoya Tanabe, Hiroyuki Ichihara, Yoshio Ebihara, Dimitri Peaucelle

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1 Citation (Scopus)

Abstract

This paper addresses the analysis of discrete-time interconnected systems where each subsystem is stable and positive. Admissibility and persistence notions are derived similar to the continuous-time case and a condition for enforcing persistence is derived for the case when all subsystems are single-input single output. Results are applied on numerical examples including the formation control of mobile robots.

Original languageEnglish
Pages (from-to)3105-3110
Number of pages6
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
Publication statusPublished - Jul 2017

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Keywords

  • Discrete-time systems
  • Formation control
  • Interconnected systems
  • Mobile robots
  • Positive systems

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