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Information Flow and Cooperative Control of Vehicle Formations

Fax, J. Alexander and Murray, Richard M. (2003) Information Flow and Cooperative Control of Vehicle Formations. California Institute of Technology . (Unpublished)

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We consider the problem of cooperation among a collection of vehicles performing a shared task using intervehicle communication to coordinate their actions. We apply tools from graph theory to relate the topology of the communication network to formation stability. We prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the graph on formation stability. We also propose a method for decentralized information exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle with a common reference to be used for cooperative motion. We prove a separation principle that states that formation stability is achieved if the information flow is stable for the given graph and if the local controller stabilizes the vehicle. The information flow can be rendered highly robust to changes in the graph, thus enabling tight formation control despite limitations in intervehicle communication capability.

Item Type:Report or Paper (Technical Report)
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URLURL TypeDescription
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:2003.012
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Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28022
Deposited By: Imported from CaltechCDSTR
Deposited On:08 Sep 2003
Last Modified:03 Oct 2019 03:28

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