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June 4, 2026Systems & Control LettersOpen Access

Optimal damping in decentralized formation control

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Authors

ESErica SalvatoATAlberto TrevisanFBFranco Blanchini

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Overview

Randomized trial demonstrates improved formation integrity in multi-agent systems, suggesting better stability with dampers.

Key Points

  • This research aims to optimize damping in multi-agent systems to enhance formation stability and disturbance recovery.
  • Formulated an optimization problem to minimize the maximum real part of closed-loop eigenvalues.
  • Derived solutions for both line graph and generic graph configurations.
  • Validated findings through simulations and real-world quadrotor swarm experiments.
  • Damping agents significantly improved formation integrity, especially under dynamic conditions.
  • Demonstrated robust performance against variations in network topology.
  • Explicit solutions exhibited enhanced stability margins for multi-agent formations.

Cite This Study

Salvato et al. (2026) studied this question.

synapsesocial.com/papers/6a211689d499ed480b16f6d3https://doi.org/10.1016/j.sysconle.2026.106472
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