A general stability condition for multi-agent coordination by coupled estimation and control

Peng Yang*, Randy A. Freeman, Kevin M. Lynch

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


Many multi-agent coordinated behaviors can be achieved using decentralized estimation-and-control, where each agent uses limited communication with neighbors in a network to estimate global properties of the performance of the group. This global information is used in each agent's local motion controller, creating a feedback connection between the estimators and controllers. To ensure the stability of the coupled system, we derive a small-gain condition that can be roughly expressed as a bound on motion control gains as a function of the estimator gains and a lower bound on the algebraic connectivity of the communication network. The condition is derived for systems of agents with first-order dynamics implementing gradient controllers based on averages of the group sensor inputs. The condition is applied to two very different tasks: formation control and cooperative target localization.

Original languageEnglish (US)
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
StatePublished - 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: Jul 9 2007Jul 13 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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