The effect of feedback and feedforward on formation ISS
Tanner, H.G.; Kumar, V.; Pappas, G.J.
Robotics and Automation, 2002. Proceedings. ICRA apos;02. IEEE International Conference on
Volume 4, Issue , 2002 Page(s): 3448 - 3453 vol.4
Digital Object Identifier   10.1109/ROBOT.2002.1014244
Summary: A new type of stability of leader follower formations is defined, based on input-to-state stability (ISS) properties of cascade interconnections. Formation ISS links leader input to internal state of the formation and characterizes the way this input affects performance. The effect of feedforward and feedback inter-agent communication is then investigated in this framework and it is indicated how the structure of interconnections and the amount of available information can affect stability performance.

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