Leader-to-Formation Stability
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
formation stability
graph theory
input-to-state stability
interconnected systems
formation stability
graph theory
input-to-state stability
interconnected systems
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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.
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2004-06-01
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Copyright 2004 IEEE. Reprinted from IEEE Transactions on Robotics and Automation, Volume 20, Issue 3, June 2004, pages 443-455. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=28961&puNumber=70 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.