Formation Control of Multi-Agent Systems with Sampled Information -- Relationship Between Information Exchange Structure and Control Performance --
Tomohisa Hayakawa, Takuji Matsuzawat, Shinji Hara · 2006
A problem of controlling multi-agent systems with intermittent information exchange between the agents is considered. Through energy-based analysis, we first derive stability conditions given a communication network structure and a sampling period. Furthermore, we relate the network topology and control performance in terms of the system's aggregate energy dissipation rate