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Information Flow and Cooperative Control of Vehicle Formations
Abstract Vehicles in formation often lack global in …
Vehicles in formation often lack global information regarding the state of all the vehicles, a deficiency which can lead to instability and poor performance. In this paper, we demonstrate how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory. When the information flow law is placed in the control loop, a separation principle is proven which guarantees stability of the formation and convergence of the information flow law regardless of the information flow topology.
gardless of the information flow topology.  +
Authors J. Alexander Fax and Richard M. Murray  +
ID 2001k  +
Source 2002 IFAC World Congress  +
Tag fm02b-ifac  +
Title Information Flow and Cooperative Control of Vehicle Formations +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:12  +
URL
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http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf  +
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