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Article
Flocking in Fixed and Switching Networks
Departmental Papers (ESE)
  • Herbert G Tanner, University of New Mexico
  • Ali Jadbabaie, University of Pennsylvania
  • George J Pappas, University of Pennsylvania
Document Type
Journal Article
Date of this Version
5-1-2007
Comments
Copyright 2007 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 52, Issue 5, May 2007, pages 863-868.
Publisher URL: http://dx.doi.org/10.1109/TAC.2007.895948

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Abstract

This note analyzes the stability properties of a group of mobile agents that align their velocity vectors, and stabilize their inter-agent distances, using decentralized, nearest-neighbor interaction rules, exchanging information over networks that change arbitrarily (no dwell time between consecutive switches). These changes introduce discontinuities in the agent control laws. To accommodate for arbitrary switching in the topology of the network of agent interactions we employ nonsmooth analysis. The main result is that regardless of switching, convergence to a common velocity vector and stabilization of inter-agent distances is still guaranteed as long as the network remains connected at all times.

Keywords
  • algebraic graph theory,
  • cooperative control,
  • multiagent systems,
  • nonsmooth systems
Citation Information
Herbert G Tanner, Ali Jadbabaie and George J Pappas. "Flocking in Fixed and Switching Networks" (2007)
Available at: http://works.bepress.com/george_pappas/75/