Title :
Leader-to-formation stability
Author :
Tanner, Herbert G. ; Pappas, George J. ; Kumar, Vijay
Author_Institution :
Dept. of Mech. Eng., New Mexico Univ., Albuquerque, NM, USA
fDate :
6/1/2004 12:00:00 AM
Abstract :
The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.
Keywords :
graph theory; interconnected systems; mobile robots; multi-robot systems; nonlinear estimation; stability; error propagation; graph theory; interconnected multiagent system; interconnection stability; leader following; leader to formation stability; mobile agent formation; nonlinear gain estimate; Control systems; Costs; Interconnected systems; Performance gain; Robustness; Safety; Satellites; Spaceborne radar; Stability analysis; Topology; Formation stability; graph theory; input-to-state stability; interconnected systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2004.825275
