Title :
Instability Mechanisms in Cooperative Control
Author :
Bai, He ; Arcak, Murat
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Abstract :
We consider a motion coordination problem with second order agent dynamics and examine the closed-loop robustness with respect to switching topology, variation of link gain, and unmodeled dynamics. In each case, we illustrate with examples possible instability mechanisms and discuss under what conditions stability is maintained.
Keywords :
closed loop systems; stability; time-varying systems; closed-loop robustness; cooperative control; instability mechanisms; link gain variation; motion coordination problem; second order agent dynamics; switching topology; unmodeled dynamics; Communication switching; Communication system control; Damping; Frequency; Laplace equations; Resonance; Stability; Topology; Vehicle dynamics; Vehicles; Cooperative control; Mathieu equation; instability; switched system; unmodeled dynamics.;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2009.2036301
