EECI08: Formation Control in Multi-Agent Systems

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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 prove a Nyquist criterion that uses the eigenvalues of the graph Laplacian matrix to determine the effect of the communication topology on formation stability.

Lecture Materials

• Lecture slides: Cooperative Control

Further Reading

• J. A. Fax and R. M. Murray, "Information flow and cooperative control of vehicle formations", IEEE T. Automatic Control, 49(9):1465-1476, 2004.
• R. M. Murray, “Recent Research in Cooperative Control of Multi-Vehicle Systems”, J. Guidance, Control and Dynamics, 2007.