Formation Control of Distributed Systems: Computation Versus Cooperation
Chimpalthradi R. Ashokkumar, Will Curtis, Robert A. Murphey · 2003
Control of distributed systems with multiple communication sources in leader follower framework is investigated. When the leader information to the follower is communicated, cooperative systems in a formation convert itself into a standard tracking or a set point regulation problem. 1 In addition, suppose that the followers begin to develop a communication. It is shown that the dynamics of the follower receiving information from leader as well as its other associates following the leader could become inconsistent. A procedure to derive the inconsistent dynamic models is presented. A cooperative control algorithm based on these models is developed. A specific communication pattern in decentralized architecture is analyzed. Two issues, formation complexities due to inconsistent dynamics and computational issues due to multiple communication sources are explained. Examples to illustrate cooperative systems using single and multiple communication sources are provided.