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Information flow and cooperative control of vehicle formations

Fax, J. Alexander and Murray, Richard M. (2002) Information flow and cooperative control of vehicle formations. IFAC Proceedings Volumes, 35 (1). pp. 115-120. ISSN 1474-6670. doi:10.3182/20020721-6-ES-1901.00100. https://resolver.caltech.edu/CaltechAUTHORS:20170814-124254157

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Abstract

Vehicles in formation often lack global information regarding the state of all the vehicles, a deficiency which can lead to instability and poor performance. In this paper, we demonstrate how exchange of minimal amounts of information between vehicles can be designed to realize a dynamical system which supplies each vehicle with a shared reference trajectory. When the information flow law is placed in the control loop, a separation principle is proven which guarantees stability of the formation and convergence of the information flow law regardless of the information flow topology.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.3182/20020721-6-ES-1901.00100DOIArticle
http://www.sciencedirect.com/science/article/pii/S1474667015385219PublisherArticle
http://resolver.caltech.edu/CaltechCDSTR:2003.012Related ItemTechnical Report
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2002 IFAC. Published by Elsevier. Research supported in part by AFOSR grants F49620-99-1-0190 and F49620-01-1-0460. First author also supported by an NSF Graduate Research Fellowship and an ARCS Foundation Fellowship.
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)F49620-99-1-0190
Air Force Office of Scientific Research (AFOSR)F49620-01-1-0460
NSF Graduate Research FellowshipUNSPECIFIED
ARCS FoundationUNSPECIFIED
Subject Keywords:decentralized control; graph theory; vehicles
Issue or Number:1
DOI:10.3182/20020721-6-ES-1901.00100
Record Number:CaltechAUTHORS:20170814-124254157
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170814-124254157
Official Citation:J. Alexander Fax, Richard M. Murray, INFORMATION FLOW AND COOPERATIVE CONTROL OF VEHICLE FORMATIONS, IFAC Proceedings Volumes, Volume 35, Issue 1, 2002, Pages 115-120, ISSN 1474-6670, http://dx.doi.org/10.3182/20020721-6-ES-1901.00100. (http://www.sciencedirect.com/science/article/pii/S1474667015385219)
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:80357
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:14 Aug 2017 20:12
Last Modified:15 Nov 2021 19:30

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