Local synchronization of sampled-data systems on one-parameter Lie subgroups
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We present a distributed nonlinear control law for synchronization of identical agents on one-parameter Lie subgroups. If the agents are initialized sufficiently close to one another, then synchronization is achieved exponentially fast. The proof does not use Jacobian linearization, instead the local nature of our result stems from our use of exponential coordi nates on a matrix Lie group. We characterize all equilibria of the network and provide a characterization of deadbeat performance for a complete connectivity graph.
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Philip James McCarthy, Christopher Nielsen (2017). Local synchronization of sampled-data systems on one-parameter Lie subgroups. UWSpace. http://hdl.handle.net/10012/17484