Information Flow in Cooperative Control of Multi-Vehicle Systems

Abstract

Over the three years of this project, we obtained a substantial collection of results that relate the topology of the underlying communications network to the stability of the overall system, under the assumption of identical linear dynamics for each vehicle (nodes). These results characterize the stability of the system in terms of the frequency response of the individual vehicle dyuamics and the eigenvalues of the Laplacian Matrix associated with the communications topology. Extensions to the basic stability theorem have been obtained that account for nonlinear plant dynamis, switching communications graphs, and disturbance propagation.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2001
Accession Number
ADA423018

Entities

People

  • Richard M. Murray

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Human Systems
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Air Force
  • Communication Channels
  • Control Systems
  • Control Theory
  • Cooperative Control
  • Department Of Defense
  • Dynamics
  • Eigenvalues
  • Frequency
  • Frequency Response
  • Graph Theory
  • Markov Processes
  • Mathematics
  • Networks
  • Nonlinear Systems
  • Switching
  • Topology

Readers

  • Computer Networking
  • Control Systems Engineering.
  • Linear Algebra