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

Volume

20

Issue

3

fYear

2004

fDate

6/1/2004 12:00:00 AM

Firstpage

443

Lastpage

455

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2004.825275

Filename

1303690