Departmental Papers (ESE)


This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily (no dwell time between consecutive switches). These changes introduce discontinuities in the agent control laws. To accommodate for arbitrary switching in the topology of the network of agent interactions we employ nonsmooth analysis. The main result is that regardless of switching, convergence to a common velocity vector and stabilization of inter-agent distances is still guaranteed as long as the network remains connected at all times.

Document Type

Journal Article

Subject Area


Date of this Version

May 2007


Copyright 2007 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 52, Issue 5, May 2007, pages 863-868.
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algebraic graph theory, cooperative control, multiagent systems, nonsmooth systems



Date Posted: 26 July 2007

This document has been peer reviewed.