Title :
Instability mechanisms in cooperative control
Author :
Bai, He ; Arcak, Murat
Author_Institution :
Dept. of Electr., Rensselaer Polytech. Inst., Troy, NY, 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; 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;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4738887
