Filtering of interaction rules in cooperation

Many cooperative control strategies focus on stability concerns to the deficit of global structure in a distributed cooperation task. We present a method of ensuring provable convergence of decentralized switching systems using ad-hoc definitions of proximity graphs, where convergence is measured by a potential function defined on the graph. The method depends on the proper filtering of the time-varying proximity graph structure so as to maintain convergence characteristics. We demonstrate the approach with an underactuated system.