Swarm stability of high-order linear time-invariant swarm systems

Access Full Text

Swarm stability of high-order linear time-invariant swarm systems

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Add to cart
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)
Add to cart

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

© The Institution of Engineering and Technology
Published

In this study the swarm stability problem of high-order linear time-invariant (LTI) swarm systems with directed graph topology is dealt with. Consensus can be regarded as a specific type of swarm stability problem. Necessary and sufficient conditions for both swarm stability and consensus are presented. These conditions depend on the graph topology, the dynamics of agents and the interactions among the neighbours. Simulation instances are shown to illustrate the theoretical results.

Inspec keywords: directed graphs; stability; mobile robots; multi-robot systems; linear systems; nonlinear dynamical systems

Other keywords: autonomous agents; directed graph topology; multiagent dynamic systems; swarm stability problem; high-order linear time-invariant swarm systems

Subjects: Combinatorial mathematics; Stability in control theory; Nonlinear control systems; Mobile robots

References

    1. 1)
    2. 2)
    3. 3)
      • Cai, N., Xi, J., Zhong, Y.-S.: `Necessary and sufficient conditions for asymptotic swarm stability of high-order swarm systems', Proc. IEEE Int. Conf. on Control Automation, 2010, Xiamen, China, p. 1870–1875.
    4. 4)
    5. 5)
    6. 6)
    7. 7)
    8. 8)
      • N. Biggs . (1993) Algebraic graph theory.
    9. 9)
      • Ma, S., Hackwood, S., Beni, G.: `Multi-agent supporting systems (MASS): control with centralized estimator of disturbance', Proc. IEEE/RSJ/GI Int. Conf. on Intelligent Robots and Systems, 1994, Munich, Germany, p. 679–686.
    10. 10)
    11. 11)
    12. 12)
      • N.A. Lynch . (1997) Distributed algorithms.
    13. 13)
    14. 14)
      • Jin, K., Liang, P., Beni, G.: `Stability of synchronized distributed control of discrete swarm structures', Proc. IEEE Int. Conf. on Robotics Automation, 1994, San Diego, USA, p. 1033–1038.
    15. 15)
    16. 16)
    17. 17)
    18. 18)
    19. 19)
    20. 20)
      • Gazi, V., Passino, K.M.: `A class of attraction/repulsion functions for stable swarm aggregations', Proc. IEEE Conf. on Decision and Control, 2002, Las Vegas, USA, p. 2842–2847.
    21. 21)
    22. 22)
    23. 23)
    24. 24)
      • Wieland, P., Kim, J., Scheu, H.: `On consensus in multi-agent systems with linear high-order agents', Proc. IFAC World Congress, 2008, Seoul, Korea, p. 1541–1546.
    25. 25)
    26. 26)
    27. 27)
    28. 28)
    29. 29)
      • Liu, Y., Jia, Y., Du, J.: `Dynamic output feedback control for consensus of multi-agent systems: an H-infinity approach', Proc. American Control Conf., 2009, St. Louis, USA, p. 4470–4475.
    30. 30)
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2009.0589
Loading

Related content

content/journals/10.1049/iet-cta.2009.0589
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading