Convergence-preserving switching for topology-dependent decentralized systems

Brian Shucker*, Todd D. Murphey, John K. Bennett

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

42 Scopus citations


Stability analysis of decentralized control mechanisms for networked coordinating systems has generally focused on specific controller implementations, such as nearest-neighbor and other types of proximity graph control laws. This approach often misses the need for the addition of other control structures to improve global characteristics of the network. An example of such a situation is the use of a Gabriel graph, which is essentially a nearest-neighbor rule modified to ensure global connectivity of the network if the agents are pairwise connected through their sensor inputs. We present a method of ensuring provable stability of decentralized switching systems by employing a hysteresis rule that uses a zero-sum consensus algorithm. We demonstrate the application of this result to several special cases, including nearest-neighbor control laws, Gabriel graph rules, diffuse target tracking, and hierarchical heterogeneous systems.

Original languageEnglish (US)
Pages (from-to)1405-1415
Number of pages11
JournalIEEE Transactions on Robotics
Issue number6
StatePublished - 2008


  • Formation control
  • Multirobot control
  • Swarm robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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