Abstract
This paper describes how large-scale decentralized control theory may be used to analyze the stability of multiple cooperative robotic vehicles. Models of cooperation are discussed from a decentralized control system point of view. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition complex physically interconnected systems, this work uses decentralized methods to connect otherwise independent non-touching robotic vehicles so that they behave in a stable, coordinated fashion. A vector Liapunov method is used to prove stability of two examples: the controlled motion of multiple vehicles along a line and the controlled motion of multiple vehicles in a plane.
Sandia is a multi-program laboratory operated by Sandia Corporation, a Lockheed Martin Company, for the United States Department of Energy under contract DE-AC0494AL85000. This research is partially funded by the Information Technology Office of the Defense Advanced Research Projects Agency.
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Feddema, J.T., Schoenwald, D.A. (2002). Stability Analysis of Decentralized Cooperative Controls. In: Schultz, A.C., Parker, L.E. (eds) Multi-Robot Systems: From Swarms to Intelligent Automata. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-2376-3_12
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DOI: https://doi.org/10.1007/978-94-017-2376-3_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6046-4
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