DocumentCode
1883598
Title
The effect of feedback and feedforward on formation ISS
Author
Tanner, Herbert G. ; Kumar, Vijay ; Pappas, G.J.
Author_Institution
GRASP Lab., Pennsylvania Univ., Philadelphia, PA, USA
Volume
4
fYear
2002
fDate
2002
Firstpage
3448
Abstract
A new type of stability of leader follower formations is defined, based on input-to-state stability (ISS) properties of cascade interconnections. Formation ISS links leader input to internal state of the formation and characterizes the way this input affects performance. The effect of feedforward and feedback inter-agent communication is then investigated in this framework and it is indicated how the structure of interconnections and the amount of available information can affect stability performance.
Keywords
feedback; feedforward; interconnected systems; multi-agent systems; multi-robot systems; stability; cascade interconnections; feedback; feedforward; input-to-state stability; interagent communication; interconnected systems; leader follower formations; multiple agent systems; multiple robot systems; Automated highways; Feedback; Interconnected systems; Laboratories; Land vehicles; Mobile communication; Mobile robots; Reconnaissance; Robotics and automation; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN
0-7803-7272-7
Type
conf
DOI
10.1109/ROBOT.2002.1014244
Filename
1014244
Link To Document