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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Winter 2007 Seminar Series
Presents
Passivity as a Design Tool for Cooperative
Control
Murat Arcak
Rensselaer Polytechnic Institute
Tuesday, January 30th, 2007 3:00pm-4:00pm ESB 2001
Abstract:
In this talk we formulate a cooperative control problem in which the objective is to
steer the differences between output variables of the agents to a prescribed compact
set via distributed feedback rules. This formulation encompasses several formation
stabilization and synchronization problems as special cases. When the information
flow between neighboring members is bidirectional, we show that the closed-loop
structure inherits the passivity properties of its individual components. By exploiting
this structure we develop a feedback design methodology and proceed to study the
robustness of the resulting feedback laws in the presence of a time-varying communi-
cation topology. The next topic discussed is an adaptive design strategy for the agents
when the reference velocity of the group is only available to a leader. The final prob-

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics