Skip to main content
Article
The Effect of Feedback and Feedforward on Formation ISS
Departmental Papers (MEAM)
  • Herbert G. Tanner, University of Pennsylvania
  • R. Vijay Kumar, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Document Type
Conference Paper
Date of this Version
5-11-2002
Comments
Copyright 2002 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation 2002 (ICRA 2002), Volume 4, pages 3448-3453.
Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=21828&page=1

This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
Abstract
A new type of stability of leader follower formations is defined, based on input-to-state stability (ISS) properties of cascade interconnections. Formation ISS links leader input to internal state of the formation and characterizes the way this input affects performance. The effect of feedforward and feedback inter-agent communication is then investigated in this framework and it is indicated how the structure of interconnections and the amount of available information can affect stability performance.
Keywords
  • feedback,
  • feedforward,
  • interconnected systems,
  • multi-agent systems,
  • multi-robot systems,
  • stability,
  • cascade interconnections feedback,
  • input-to-state stability,
  • interagent communication,
  • leader follower formations,
  • multiple agent systems,
  • multiple robot systems
Citation Information
Herbert G. Tanner, R. Vijay Kumar and George J Pappas. "The Effect of Feedback and Feedforward on Formation ISS" (2002)
Available at: http://works.bepress.com/george_pappas/201/