Formation Control of Multi-Agent Systems with Sampled Information -- Relationship Between Information Exchange Structure and Control Performance --

@article{Hayakawa2006FormationCO,
  title={Formation Control of Multi-Agent Systems with Sampled Information -- Relationship Between Information Exchange Structure and Control Performance --},
  author={Tomohisa Hayakawa and Teruo Matsuzawa and Shinji Hara},
  journal={Proceedings of the 45th IEEE Conference on Decision and Control},
  year={2006},
  pages={4333-4338}
}
A problem of controlling multi-agent systems with intermittent information exchange between the agents is considered. Through energy-based analysis, we first derive stability conditions given a communication network structure and a sampling period. Furthermore, we relate the network topology and control performance in terms of the system's aggregate energy dissipation rate 
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