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SOSTOOLS is a MATLAB toolbox for constructing and solving sum of squares programs. It can be used in combination with semidefinite programming software, such as SeDuMi, to solve many continuous andâ€¦ (More)

This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of theâ€¦ (More)

A relaxation of Lyapunovâ€™s direct method has been proposed recently that allows for an algorithmic construction of Lyapunov functions to prove stability of equilibria in nonlinear systems, but theâ€¦ (More)

- Ulrich MÃ¼nz, Antonis Papachristodoulou, Frank AllgÃ¶wer
- IEEE Transactions on Automatic Control
- 2011

The robustness of consensus in single integrator multi-agent systems (MAS) to coupling delays and switching topologies is investigated. It is shown that consensus is reached for arbitrarily largeâ€¦ (More)

- Ulrich MÃ¼nz, Antonis Papachristodoulou, Frank AllgÃ¶wer
- Automatica
- 2010

We investigate the robustness of consensus schemes for linear Multi-Agent Systems (MAS) to feedback delays. To achieve this, we develop a unified framework that considers linear MAS models withâ€¦ (More)

- Antonis Papachristodoulou, Ali Jadbabaie, Ulrich MÃ¼nz
- IEEE Transactions on Automatic Control
- 2010

The coordinated motion of multi-agent systems and oscillator synchronization are two important examples of networked control systems. In this technical note, we consider what effect multiple,â€¦ (More)

- Ulrich MÃ¼nz, Antonis Papachristodoulou, Frank AllgÃ¶wer
- IEEE Transactions on Automatic Control
- 2011

Robust static output-feedback controllers are designed that achieve consensus in networks of heterogeneous agents modeled as nonlinear systems of relative degree two. Both ideal communicationâ€¦ (More)

- Matthew M. Peet, Antonis Papachristodoulou, Sanjay Lall
- Proceedings of the 45th IEEE Conference onâ€¦
- 2006

We consider the problem of constructing Lyapunov functions for linear differential equations with delays. For such systems it is known that stability implies that there exists a quadratic Lyapunovâ€¦ (More)

In this dissertation, we investigate how convex optimization can be used to analyze different classes of nonlinear systems at various scales algorithmically. The methodology is based on theâ€¦ (More)

This paper presents a method for stability analysis of switched and hybrid systems using polynomial and piecewise polynomial Lyapunov functions. Computation of subh functions can be performed usingâ€¦ (More)