Abstract :
[en] This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-
dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem
is reduced to a consensus problem on the Lie algebra. The resulting equilibria correspond to parallel, circular and helical
formations. We rst derive the stabilizing control laws in the presence of all-to-all communication. Providing each agent
with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and time-varying
communication topologies.
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