I am working on formation control of Multiagent systems, my system dynamics are second order non holonomic robots. I have taken a lyapunov function for my control law, let it be V_dot = - V1 + V2 - V3. V1 and V3 will be possitive or zero all the time and V2 is a time varying term which may be possitive or negative and V2 will goes to zero after a period of time. Is my system stable? at the initial time, V2 may be possitive and may dominate both V1 and V3 but after sometime it goes to zero and V1 , V3 are possitive so overall derivative would be negative.
Is there any way, by which I can say my system is stable?
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