Time-Inverted Kuramoto Dynamics for κ-Clustered Circle Coverage

被引：5

作者：

Boldrer, Manuel ^{[1
]}

Riz, Francesco ^{[2
]}

Pasqualetti, Fabio ^{[3
]}

Palopoli, Luigi ^{[2
]}

Fontanelli, Daniele ^{[1
]}

机构：

[1] Univ Trento, Dept Ind Engn, Trento, Italy

[2] Univ Trento, Dept Informat Engn & Comp Sci, Trento, Italy

[3] Univ Calif Riverside, Dept Mech Engn, Riverside, CA 92521 USA

来源：

2021 60TH IEEE CONFERENCE ON DECISION AND CONTROL (CDC) | 2021年

关键词：

PLANAR COLLECTIVE MOTION; STABILIZATION; SYNCHRONIZATION; STABILITY; ROBUST; MODEL;

D O I：

10.1109/CDC45484.2021.9683310

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper we analyse the equilibrium configurations for the time-inverted Kuramoto Model with homogeneous agents and a fixed ring topology, where time-inverted means that the coupling between the different states is via a negative factor. This model exhibits a dual behaviour with respect to the classic Kuramoto Model with a positive coupling. In the paper, we show the existence of two possible stable equilibrium configurations: the splay state formation (1-clustered coverage) and the deployment in clusters (kappa-clustered coverage). We provide sufficient conditions for the splay state formation and a stability analysis for the networked system. Moreover, we provide some initial results towards the controllability of the final equilibrium configurations. In particular, we lay the foundations to understand the conditions to switch between stable equilibria.

引用

页码：1205 / 1211

页数：7

共 26 条

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