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Instability Mechanisms in Cooperative Control

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2 Author(s)
He Bai ; Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA ; Arcak, M.

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.

Published in:

Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 1 )

Date of Publication:

Jan. 2010

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