Title :
Global Lyapunov functions and a hierarchical control scheme for networks of robotic agents
Author :
Maidens, John ; Li, M.Y.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of California, Berkeley, Berkeley, CA, USA
Abstract :
We present a graph-theoretic method of systematically constructing global Lyapunov functions for large-scale, heterogeneous multi-agent networks with nonlinear dynamics. We illustrate the power of this method by demonstrating the stability of a control protocol for the self-organization of swarms of mobile agents into hierarchical formations.
Keywords :
Lyapunov methods; graph theory; hierarchical systems; large-scale systems; multi-robot systems; robot dynamics; global Lyapunov functions; graph-theoretic method; heterogeneous multiagent networks; hierarchical control scheme; hierarchical formations; large-scale multiagent network; mobile agent swarm self-organization; nonlinear dynamics; robotic agent network; Algorithm design and analysis; Clustering algorithms; Laplace equations; Lyapunov methods; Protocols; Stability analysis; Vectors;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580460
