Passivity-Based Control of Multi-Agent Systems. Chopra, N. & Spong, M. W. In Kawamura, S. & Svinin, M., editors, Advances in Robot Control, pages 107–134. Springer Berlin Heidelberg, Berlin, Heidelberg, 2006.
Passivity-Based Control of Multi-Agent Systems [link]Paper  doi  abstract   bibtex   
In this paper we study passivity-based control for the problem of coordination and synchronization of multi-agent systems. We treat agents described by affine nonlinear systems that are input-output passive and that exchange information over a network described by an interconnection graph. We treat both linear interconnections on balanced, directed graphs and nonlinear interconnections on undirected graphs. We present synchronization results for both fixed and switching graphs. Finally, we treat the realistic case of time delay in the communication of information among agents. Our results unify several existing results from the literature on multi-agent systems.
@incollection{kawamura_passivity-based_2006,
	address = {Berlin, Heidelberg},
	title = {Passivity-{Based} {Control} of {Multi}-{Agent} {Systems}},
	copyright = {A},
	isbn = {978-3-540-37346-9},
	url = {http://link.springer.com/10.1007/978-3-540-37347-6_6},
	abstract = {In this paper we study passivity-based control for the problem of coordination and synchronization of multi-agent systems. We treat agents described by affine nonlinear systems that are input-output passive and that exchange information over a network described by an interconnection graph. We treat both linear interconnections on balanced, directed graphs and nonlinear interconnections on undirected graphs. We present synchronization results for both fixed and switching graphs. Finally, we treat the realistic case of time delay in the communication of information among agents. Our results unify several existing results from the literature on multi-agent systems.},
	language = {en},
	urldate = {2020-04-05},
	booktitle = {Advances in {Robot} {Control}},
	publisher = {Springer Berlin Heidelberg},
	author = {Chopra, Nikhil and Spong, Mark W.},
	editor = {Kawamura, Sadao and Svinin, Mikhail},
	year = {2006},
	doi = {10.1007/978-3-540-37347-6_6},
	keywords = {Passivity},
	pages = {107--134},
}
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