Browse wiki

From MurrayWiki
Jump to: navigation, search
Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents
Abstract In this paper, we provide a theoretical fr …
In this paper, we provide a theoretical framework that consists of graph theoretical and Lyapunov-based approaches to stability analysis and distributed control of multi-agent formations. This framework relays on the notion of graph rigidity as a means of identifying the shape variables of a formation. Using this approach, we can formally define formations of multiple vehicles and three types of stabilization/tracking problems for dynamic multi-agent systems. We show how these three problems can be addressed mutually independent of each other for a formation of two agents. Then, we introduce a procedure called dynamic node augmentation that allows construction of a larger formation with more agents that can be rendered structurally stable in a distributed manner from some initial formation that is structurally stable. We provide two examples of formations that can be controlled using this approach, namely, the V-formation and the diamond formation.
the V-formation and the diamond formation.  +
Authors Reza Olfati-Saber and Richard M. Murray  +
ID 2002d  +
Source Submitted, 2002 Conference on Decision and Control (CDC)  +
Tag om02b-cdc  +
Title Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents +
Type Conference Paper  +
Categories Papers
Modification date
This property is a special property in this wiki.
15 May 2016 06:19:03  +
URL
This property is a special property in this wiki.
http://www.cds.caltech.edu/~murray/preprints/om02b-cdc.pdf  +
hide properties that link here 
Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents + Title
 

 

Enter the name of the page to start browsing from.