Reference : Stabilization of planar collective motion: All-to-all communication
Scientific journals : Article
Engineering, computing & technology : Electrical & electronics engineering
Engineering, computing & technology : Computer science
Stabilization of planar collective motion: All-to-all communication
Sepulchre, Rodolphe mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Paley, Derek [> > > >]
Leonard, Naomi Ehrich [> > > >]
IEEE Transactions on Automatic Control
Ieee-Inst Electrical Electronics Engineers Inc
Yes (verified by ORBi)
[en] cooperative control ; geometric control ; multiagent systems ; stabilization
[en] 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.
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