Information Flow in Cooperative Control of Multi-Vehicle Systems

摘要

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.