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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. +
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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.
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15 May 2016 06:19:03 + |
URL This property is a special property in this wiki.
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http://www.cds.caltech.edu/~murray/preprints/om02b-cdc.pdf + |
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Distributed Structural Stabilization and Tracking for Formations of Dynamic Multi-Agents + | Title |
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