Stabilization of three-dimensional collective motion
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Publication:2390621
DOI10.4310/CIS.2008.V8.N4.A6zbMATH Open1168.93007arXiv0806.3442MaRDI QIDQ2390621FDOQ2390621
L. Scardovi, Rodolphe Sepulchre, Naomi Ehrich Leonard
Publication date: 31 July 2009
Published in: Communications in Information and Systems (Search for Journal in Brave)
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.
Full work available at URL: https://arxiv.org/abs/0806.3442
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