Filtering of interaction rules in cooperation

Todd Murphey*

*Corresponding author for this work

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


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.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages7
StatePublished - Sep 30 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

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


Other2008 American Control Conference, ACC
CountryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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