Stabilization Laws for Collective Motion in Three Dimensions

[en] This paper proposes a framework for the design of control laws that stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Under the assumption of all-to-all communication, the derived control laws only require relative orientations and positions. We extend the obtained results in the presence of limited communication topologies by equipping each agent with a consensus estimator.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Scardovi, Luca; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore)

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Leonard, Naomi; Princeton University, Princeton, NJ > Department of Mechanical and Aerospace Engineering

Language :

English

Title :

Stabilization Laws for Collective Motion in Three Dimensions

Publication date :

July 2007

Event name :

European Control Conference

Event place :

Kos, Greece

Event date :

du 2 au 5 juillet 2007

By request :

Yes

Audience :

International

Main work title :

Proceedings of the European Control Conference

Peer reviewed :

Peer reviewed

Available on ORBi :

since 06 December 2010

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Scopus citations^®
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Bibliography

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