Work

Stabilization of Planar Collective Motion: All-to-All Communication

Year: 2007

Type: article

Abstract: This paper proposes a design methodology to stabilize isolated relative equilibria in a model of all-to-all coupled identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles with fixed relative phases. The stabilizing feedbacks derive from Lyapunov functions that prove exponential stability and suggest almost global convergence properties. The results of the paper provide a low-order parametric family of stabilizable collectives that offer a set of primitives for the design of higher-level tasks at the group level

Source: IEEE Transactions on Automatic Control

DOI: 10.1109/tac.2007.898077

Authors: Rodolphe Sepulchre, Derek A. Paley, Naomi Ehrich Leonard

Institutions: University of Liège, Princeton University

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Princeton University, Office of Naval Research

Award: G8876996369