Decentralized control of vehicle formations

被引：508

作者：

Lafferriere, G ^{[1
]}

Williams, A ^{[1
]}

Caughman, J ^{[1
]}

Veerman, JJP ^{[1
]}

机构：

[1] Portland State Univ, Dept Math & Stat, Portland, OR 97207 USA

来源：

SYSTEMS & CONTROL LETTERS | 2005年 / 54卷 / 09期

关键词：

formation stability; graph Laplacian; algebraic graph theory; decentralized control; rooted directed spanning tree;

D O I：

10.1016/j.sysconle.2005.02.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates a method for decentralized stabilization of vehicle formations using techniques from algebraic graph theory. The vehicles exchange information according to a pre-specified communication digraph, G. A feedback control is designed using relative information between a vehicle and its in-neighbors in G. We prove that a necessary and sufficient condition for an appropriate decentralized linear stabilizing feedback to exist is that G has a rooted directed spanning tree. We show the direct relationship between the rate of convergence to formation and the eigenvalues of the (directed) Laplacian of G. Various special situations are discussed, including symmetric communication graphs and formations with leaders. Several numerical simulations are used to illustrate the results. (c) 2005 Elsevier B.V. All rights reserved.

引用

页码：899 / 910

页数：12

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