TY - GEN
T1 - Filtering of interaction rules in cooperation
AU - Murphey, Todd
PY - 2008
Y1 - 2008
N2 - Many cooperative control strategies focus on stability concerns to the deficit of global structure in a distributed cooperation task. We present a method of ensuring provable convergence of decentralized switching systems using ad-hoc definitions of proximity graphs, where convergence is measured by a potential function defined on the graph. The method depends on the proper filtering of the time-varying proximity graph structure so as to maintain convergence characteristics. We demonstrate the approach with an underactuated system.
AB - Many cooperative control strategies focus on stability concerns to the deficit of global structure in a distributed cooperation task. We present a method of ensuring provable convergence of decentralized switching systems using ad-hoc definitions of proximity graphs, where convergence is measured by a potential function defined on the graph. The method depends on the proper filtering of the time-varying proximity graph structure so as to maintain convergence characteristics. We demonstrate the approach with an underactuated system.
UR - http://www.scopus.com/inward/record.url?scp=52449088876&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=52449088876&partnerID=8YFLogxK
U2 - 10.1109/ACC.2008.4587074
DO - 10.1109/ACC.2008.4587074
M3 - Conference contribution
AN - SCOPUS:52449088876
SN - 9781424420797
T3 - Proceedings of the American Control Conference
SP - 3733
EP - 3739
BT - 2008 American Control Conference, ACC
T2 - 2008 American Control Conference, ACC
Y2 - 11 June 2008 through 13 June 2008
ER -