• DocumentCode
    1351278
  • Title

    Instability Mechanisms in Cooperative Control

  • Author

    Bai, He ; Arcak, Murat

  • Author_Institution
    Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
  • Volume
    55
  • Issue
    1
  • fYear
    2010
  • Firstpage
    258
  • Lastpage
    263
  • 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.;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.2009.2036301
  • Filename
    5350458
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1351278