Stabilization of Planar Collective Motion With Limited Communication

This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around...

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Bibliographic Details
Published in:IEEE transactions on automatic control Vol. 53; no. 3; pp. 706 - 719
Main Authors: Sepulchre, R., Paley, D.A., Leonard, N.E.
Format: Journal Article
Language:English
Published: New York, NY IEEE 01.04.2008
Institute of Electrical and Electronics Engineers
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:
Adaptative systems
Aerospace engineering
Applied sciences
Automatic control
Automotive engineering
Communication system control
Computer science
Computer science; control theory; systems
Control systems
Control theory. Systems
Cooperative control
Design methodology
Engineering, computing & technology
Exact sciences and technology
geometric control
Graphs
Ingénierie, informatique & technologie
Methodology
Motion control
multi-agent systems
Multiagent systems
Planes
Sciences informatiques
Sea measurements
Stabilization
Unmanned aerial vehicles
Stabilization
Cooperative control
Data transmission
Collective process
Spacing
geometric control
Adaptive control
Modeling
Time varying system
Multiagent system
Cooperation
multi- agent systems
Distributed control
Causality
Invarying system
Formation
Information exchange
ISSN:0018-9286, 1558-2523
Online Access:Get full text
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Description
Summary:This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework.
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scopus-id:2-s2.0-42649110982
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2008.919857