Instability Mechanisms in Cooperative Control

被引：13

作者：

Bai, He ^{[1
]}

Arcak, Murat ^{[2
]}

机构：

[1] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA

[2] Univ Calif Berkeley, Fac Elect Engn & Comp Sci, Berkeley, CA 94720 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2010年 / 55卷 / 01期

基金：

美国国家科学基金会;

关键词：

Cooperative control; instability; Mathieu equation; switched system; unmodeled dynamics; AGENTS; STABILITY; FLOCKING; NETWORKS; DESIGN;

D O I：

10.1109/TAC.2009.2036301

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：258 / 263

页数：6

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