Leader-to-formation stability

被引：526

作者：

Tanner, HG ^{[1
]}

Pappas, GJ

Kumar, V

机构：

[1] Univ New Mexico, Dept Mech Engn, Albuquerque, NM 87131 USA

[2] Univ Penn, Dept Elect & Syst Engn, Philadelphia, PA 19104 USA

[3] Univ Penn, Dept Mech Engn & Appl Mech, Philadelphia, PA 19104 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 03期

关键词：

formation stability; graph theory; input-to-state stability; interconnected systems;

D O I：

10.1109/TRA.2004.825275

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper investigates the stability properties of mobile agent formations which are based on leader following. We derive nonlinear gain estimates that capture how leader behavior affects the interconnection errors observed in the formation. Leader-to-formation stability (LFS) gains quantify error amplification, relate interconnection topology to stability and performance, and offer safety bounds for different formation topologies. Analysis based on the LFS gains provides insight to error propagation and suggests ways to improve the safety, robustness, and performance characteristics of a formation.

引用

页码：443 / 455

页数：13

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