Information Flow and Cooperative Control of Vehicle Formations: Difference between revisions

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| authors = J. Alexander Fax and Richard M. Murray
| authors = J. Alexander Fax and Richard M. Murray
| title = Information Flow and Cooperative Control of Vehicle Formations
| title = Information Flow and Cooperative Control of Vehicle Formations
| source = <i>IEEE T. Automatic Control</i>, 49(9):1465-1476
| source = 2002 IFAC World Congress
| year = 2004
| year = 2001
| type = Journal
| type = Conference Paper
  Submission
| funding = AFOSR/coop
| funding = AFOSR/microsat, AFOSR/infoflow
| url = http://www.cds.caltech.edu/~murray/preprints/fm02b-ifac.pdf
| url = http://www.cds.caltech.edu/~murray/preprints/fm03-tac.pdf
| abstract =  
| abstract =  
We consider the problem of cooperation among a collection of vehicles performing a shared
Vehicles in formation often lack global information regarding the state of
task using intervehicle communication to coordinate their actions. We apply tools from graph
all the vehicles, a deficiency which can lead to instability and poor performance. In
theory to relate the topology of the communication network to formation stability. We prove a
this paper, we demonstrate how exchange of minimal amounts of information between
Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect
vehicles can be designed to realize a dynamical system which supplies each vehicle with
of the graph on formation stability. We also propose a method for decentralized information
a shared reference trajectory. When the information flow law is placed in the control
exchange between vehicles. This approach realizes a dynamical system that supplies each vehicle
loop, a separation principle is proven which guarantees stability of the formation and
with a common reference to be used for cooperative motion. We prove a separation principle
convergence of the information flow law regardless of the information flow topology.
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.
| flags =  
| flags =  
| tag = fm04-tac
| filetype = PDF, 6 pages
| id = 2003g
| filesize = 111K
| tag = fm02b-ifac
| id = 2001k
}}
}}

Latest revision as of 06:19, 15 May 2016


J. Alexander Fax and Richard M. Murray
2002 IFAC World Congress

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.

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