Stability of General Coupled Inertial Agents

被引：41
作者：
Li, Wei [1 ]
Spong, Mark W. [1 ]
机构：
[1] Univ Texas Dallas, Dept Elect Engn, Richardson, TX 75080 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2010年 / 55卷 / 06期
关键词：
Coupling topology; damping/stiffness gain; geometric decomposition; multi-agent system; stability; SYNCHRONOUS ROBOTIC NETWORKS; PLANAR COLLECTIVE MOTION; NONHOLONOMIC AGENTS; VEHICLE FORMATIONS; FLOCKING; SWARMS; COMMUNICATION; STABILIZATION; ALGORITHMS; COMPLEXITY;
D O I：
10.1109/TAC.2010.2043285
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We investigate the stability of a system of multiple inertial agents, using the decomposition approach, in which the velocity/position coupling can be generally non-balanced. The stability of the system is determined by two sorts of factors: the velocity/position coupling and the damping/stiffness gains. We indicate all possibly invariant quantities of the system and give sufficient conditions for stability. Also, our result gives a less conservative estimate to design the damping/stiffness gains of the system for stability than some other recent results.
引用
收藏
页码：1411 / 1416
页数：6
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