Stability and Convergence Analysis of a Decentralized Proportional-Integral Control Strategy for Collective Transport

Hamed Farivarnejad, Spring Berman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations


In this paper, we study the stability and convergence properties of a decentralized proportional-integral velocity controller for collective transport by a team of point-mass robots that are rigidly attached to a payload. The controller only requires robots' velocity measurements, and the only information provided to the robots is the target speed and direction of transport. We prove that the closed-loop system with proportional control alone is exponentially stable, and we derive the system's rate of convergence to the desired transport velocity. We analyze the parameters that affect this convergence rate and characterize its dependence on the robots' distribution around the payload. We add an integral controller to the proportional controller to compensate for any drift from the desired transport path and prove asymptotic stability in this case. We validate our analytical results for the proportional controller through simulations with three different robot distributions around the payload. These simulations demonstrate that the robots' distribution has the predicted effect on the convergence rate, which influences the load's rotation and drift from the desired path during the transient phase of transport. We also confirm through simulation that the proportional-integral controller drives this drift to zero while achieving the desired transport velocity.

Original languageEnglish (US)
Title of host publication2018 Annual American Control Conference, ACC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages8
ISBN (Print)9781538654286
StatePublished - Aug 9 2018
Event2018 Annual American Control Conference, ACC 2018 - Milwauke, United States
Duration: Jun 27 2018Jun 29 2018

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2018 Annual American Control Conference, ACC 2018
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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