
Formation stability is now analyzed under a new prism using input-to-state stability (ISS). Formation ISS relates leader input to internal state of the formation and characterizes the way this input affects stability performance. Compared to other notions of stability for interconnected systems, formation ISS does not require attenuation of errors as they propagate, but instead quantifies the amplification and provides worst case bounds. The control interconnections that give rise to the formation are represented by a graph. The formation graphs considered are built from a small number of primitive graphs, the stability properties of which are used to reason about the composite. For the case of linear dynamics, a recursive expression allows the calculation of the bounds using the graph theoretic representation of the formation via the adjacency matrix. Illustrative examples demonstrate how formation ISS can be used as an analysis and a design tool.
| selected citations These citations are derived from selected sources. This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically). | 45 | |
| popularity This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network. | Top 10% | |
| influence This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically). | Top 1% | |
| impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network. | Top 10% |
