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Stability Analysis of Stochastically Varying Formations of Dynamic Agents
Abstract We analyze a network of dynamic agents whe …
We analyze a network of dynamic agents where the topology of the network specifies the information flow between the agents. We present an analysis method for such a system for both consensus and formation stabilization problems. We consider the case of agent dynamics being a single integrator in more detail to show the general features introduced by the information flow. Then we show that the method of analysis can be extended to more general cases of complicated agent dynamics, non-ideal links for information flow, etc. We also consider the case when the topology of the network is changing over time. The focus of the paper is on obtaining conditions for the stability of the formation that can be checked in a decentralized way. Some simple examples are also presented.
. Some simple examples are also presented.  +
Authors Vijay Gupta, Babak Hassibi, Richard M. Murray  +
ID 2003i  +
Source 2003 Conference on Decision and Control (CDC)  +
Tag ghm03-cdc  +
Title Stability Analysis of Stochastically Varying Formations of Dynamic Agents +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:40  +
URL
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http://www.cds.caltech.edu/~murray/preprints/ghm03-cdc.pdf  +
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Stability Analysis of Stochastically Varying Formations of Dynamic Agents + Title
 

 

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