Abstract
In this chapter, we formulate a coordination problem that is applicable to formation stabilization and group agreement as special cases, and present a class of feedback laws that solve this problem with local information. A key observation is that bidirectional communication gives rise to Structure 4 in Section 1.5, which guarantees that the resulting feedback loop will inherit the passivity properties of its components. By exploiting this structure, we develop a design method which results in a broad class of feedback laws that achieve passivity and, thus, stability of the interconnected system. The passivity approach also leads to a systematic construction of a Lyapunov function in the form of a sum of storage functions for the subsystems. As detailed in this chapter, several existing feedback rules for formation stability and group agreement become special cases in the passivity framework.
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© 2011 Springer Science+Businees Media, LLC
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Bai, H., Arcak, M., Wen, J. (2011). Passivity As a Design Tool for Cooperative Control. In: Cooperative Control Design. Communications and Control Engineering, vol 89. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-0014-1_2
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DOI: https://doi.org/10.1007/978-1-4614-0014-1_2
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Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4614-0013-4
Online ISBN: 978-1-4614-0014-1
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