Cooperative and Coordinated Control Scheme for Multi-Agent Systems
| Prev: Consensus Problem and Algorithms | Course Home | Next: Distributed Receding Horizon Control |
This is the template for CDS 270 lectures. If you edit this page, you will see comments describing what goes in each section. Do not edit this template. See CDS 270: Information for Lecturers for more information on how to create a wiki page corresponding to a lecture.
Lecture Materials
Reading
Optimal and Cooperative Control of Vehicle Formations, J. Alexander Fax, PhD Dissertation, 2002. A good analysis of cooperative control stability in the second half.
String stability of interconnected systems, D. Swaroop and J. K. Hedrick, IEEE Transactions on Automatic Control, 41(3):349–357, 1996. A good reference for string stability problem
Stability and performance analysis with double-graph model of vehicle formations, Z. Jin and R. M. Murray, American Control Conference 2003, Jun. 4-6, 2003, Denver, Colorado. The double-graph model was introduced in this paper.
Double-Graph Control Strategy of Multi-Vehicle Formations, Z. Jin and R. M. Murray, the 43rd IEEE Conference on Decision and Control, Dec. 14-17, 2004, Paradise Island, Bahamas.
Additional Resources
- The Caltech Multi-Vehicle Wireless Testbed (MVWT). MVWT webpage including online documents and multimedia files.
- MVWT-II: The Second Generation Caltech Multi-Vehicle Wireless Testbed, Z. Jin, S. Waydo, E. B. Wildanger, M. Lammers, H. Scholze, P. Foley, D. Held, and R. M. Murray, American Control Conference 2004, Jun. 30-Jul. 2, 2004, Boston, MA. A paper to descrebe the second generation of MVWT.
