Reference : Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled ...
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/2268/78641
Oscillator Models and Collective Motion: Splay State Stabilization of Self-Propelled Particles
English
Paley, Derek [Princeton University, Princeton, NJ > Mechanical and Aerospace Engineering > > >]
Leonard, Naomi [Princeton University, Princeton, NJ > Mechanical and Aerospace Engineering > > >]
Sepulchre, Rodolphe mailto [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
2005
Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference
Yes
Yes
International
44th IEEE Conference on Decision and Control and European Control Conference
du 12 au 15 décembre 2005
Sevilla
Espagne
[en] This paper presents a Lyapunov design for the
stabilization of collective motion in a planar kinematic model
of N particles moving at constant speed. We derive a control law
that achieves asymptotic stability of the splay state formation,
characterized by uniform rotation of N evenly spaced particles
on a circle. In designing the control law, the particle headings
are treated as a system of coupled phase oscillators. The
coupling function which exponentially stabilizes the splay state
of particle phases is combined with a decentralized beacon
control law that stabilizes circular motion of the particles in the
splay state formation around the center of mass of the group.
http://hdl.handle.net/2268/78641
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