DocumentCode
2242863
Title
Instability mechanisms in cooperative control
Author
Bai, He ; Arcak, Murat
Author_Institution
Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY, USA
fYear
2008
fDate
9-11 Dec. 2008
Firstpage
357
Lastpage
362
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; cooperative systems; mobile agents; motion control; stability; time-varying systems; topology; vehicles; closed-loop robustness; cooperative control; motion coordination problem; second order agent dynamics; switching topology; Communication switching; Communication system control; Frequency; Laplace equations; Motion control; Resonance; Stability; Topology; Vehicle dynamics; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location
Cancun
ISSN
0191-2216
Print_ISBN
978-1-4244-3123-6
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2008.4738887
Filename
4738887
Link To Document