Stabilization of planar collective motion with limited communication

被引：332

作者：

Sepulchre, Rodolphe ^{[1
]}

Paley, Derek A. ^{[2
]}

Leonard, Naomi Ehrich ^{[3
]}

机构：

[1] Univ Liege, Dept Elect Engn & Comp Sci, Inst Montefiore B28, B-4000 Cointe Ougree, Belgium

[2] Univ Maryland, Dept Aerosp Engn, College Pk, MD 20742 USA

[3] Princeton Univ, Dept Mech & Aerosp Engn, Princeton, NJ 08544 USA

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2008年 / 53卷 / 03期

关键词：

cooperative control; geometric control; multi-agent systems; stabilization;

D O I：

10.1109/TAC.2008.919857

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper proposes a design methodology to stabilize relative equilibria in a model of identical, steered particles moving in the plane at unit speed. Relative equilibria either correspond to parallel motion of all particles with fixed relative spacing or to circular motion of all particles around the same circle. Particles exchange relative information according to a communication graph that can be undirected or directed and time-invariant or time-varying. The emphasis of this paper is to show how previous results assuming all-to-all communication can be extended to a general communication framework.

引用

页码：706 / 719

页数：14

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