Decentralized formation control via the edge Laplacian

Daniel Zelazo, Amirreza Rahmani, Jasmine Sandhu, Mehran Mesbahi

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

13 Scopus citations


Formation keeping strategies for groups of interconnected agents have recently been of great research interest in the systems community. In this work, we explore the utility of the edge variant of the graph Laplacian in the synthesis of formation keeping control laws. Along the way, we show a general duality relation between networked dynamic systems with measurement restrictions and those with control constraints. In both cases, it is shown that the closed loop error dynamics for the formation reduces to the edge agreement problem- which in turn- can be fully characterized via the spanning trees of the underlying interconnection topology.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - 2008
Externally publishedYes
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
Country/TerritoryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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