365 citations · 492 across the 9 of their papers we have counts for
4 papers · 1 filter
Decentralized control of large vehicular formations: stability margin and sensitivity to external disturbances
He Hao, Prabir Barooah
We study the stability and robustness of large-scale vehicular formations, in which each vehicle is modeled as a double-integrator. Two types of information graphs are considered:…
On achieving size-independent stability margin of vehicular lattice formations with distributed control
He Hao, Prabir Barooah
We study the stability margin of a vehicular formation with distributed control, in which the control at each vehicle only depends on the information from its neighbors in an infor…
Control of large 1D networks of double integrator agents: role of heterogeneity and asymmetry on stability margin
He Hao, Prabir Barooah
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D Euclidean space. The control signal at…
Stability Margin Scaling Laws for Distributed Formation Control as a Function of Network Structure
He Hao, Prabir Barooah, Prashant G. Mehta
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distr…