Title :
Formation Control of Multi-Agent Systems with Sampled Information -- Relationship Between Information Exchange Structure and Control Performance --
Author :
Hayakawa, Tomohisa ; Matsuzawa, Takuji ; Hara, Shinji
Author_Institution :
Dept. of Mech. & Environ. Informatics, Tokyo Inst. of Technol.
Abstract :
A problem of controlling multi-agent systems with intermittent information exchange between the agents is considered. Through energy-based analysis, we first derive stability conditions given a communication network structure and a sampling period. Furthermore, we relate the network topology and control performance in terms of the system´s aggregate energy dissipation rate
Keywords :
large-scale systems; mobile robots; multi-robot systems; position control; sampled data systems; stability; communication network structure; energy-based analysis; formation control; intermittent information exchange; multiagent systems; network topology; sampled information; stability; Aggregates; Communication networks; Communication system control; Control systems; Energy dissipation; Intelligent robots; Multiagent systems; Network topology; Nonlinear control systems; Sampling methods;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377708
