Stabilization of three-dimensional collective motion

DOI10.4310/CIS.2008.V8.N4.A6MaRDI QIDQ2390621zbMATH OpenFDO

Authors L. Scardovi, Naomi Ehrich Leonard, Rodolphe Sepulchre

Publication date 31 July 2009

Published in Communications in Information and Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/0806.3442, https://projecteuclid.org/euclid.cis/1241616529

zbMATH Keywords

consensusmulti-agent systemsnonlinear systemsmotion coordinationmulti-vehicle formations

Mathematics Subject Classification ID

Decentralized systems (93A14) Nonlinear systems in control theory (93C10) Algebraic methods (93B25)

Abstract: 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.

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(16)

• Stabilization of collective motion on a sphere
• Target enclosing control for fixed-wing unmanned aerial vehicle in three dimensional space: an attractive vector approach
• Three-dimensional circular formations via set stabilization
• Asynchronous Distributed Algorithms for Heading Consensus of Multi-Agent Systems with Communication Delay
• Stabilization of symmetric formations to motion around convex loops
• Group coordination and cooperative control of steered particles in the plane
• Utilizing the geometric mechanics framework to predict attitude in a full ephemeris model of the Cislunar region
• Synchronization in networks of identical linear systems
• Consensus for formation control of multi-agent systems
• Output-feedback synchronizability of linear time-invariant systems
• Coordinated patterns of unit speed particles on a closed curve
• Equilibria and steering laws for planar formations
• Framework for the full N-body problem in \(\mathsf{SE}(3)\) and its reduction to the circular restricted full three-body problem
• Collective rotating motions of second-order multi-agent systems in three-dimensional space
• A mathematical model for the dynamics and synchronization of cows
• Beacon-referenced pursuit for collective motions in three dimensions

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