Article (Scientific journals)
STABILIZATION OF THREE-DIMENSIONAL COLLECTIVE MOTION
Scardovi, Luca; Leonard, N. E.; Sepulchre, Rodolphe
2008In Communications in Information and Systems, 8 (4), p. 473-500
Peer reviewed
 

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Keywords :
Motion coordination; Nonlinear systems; Multi-agent systems; Consensus; Multi- vehicle formations
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 first 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.
Disciplines :
Computer science
Author, co-author :
Scardovi, Luca;  Princeton University USA > Department of Mechanical and Aerospace Engineering,
Leonard, N. E.;  Princenton University USA > Department of Mechanical and Aerospace Engineering
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
STABILIZATION OF THREE-DIMENSIONAL COLLECTIVE MOTION
Publication date :
2008
Journal title :
Communications in Information and Systems
Publisher :
Brockett Legacy issue
Volume :
8
Issue :
4
Pages :
473-500
Peer reviewed :
Peer reviewed
Available on ORBi :
since 17 December 2010

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