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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014244
