Paper ID sheet - Systems and Control at ULg
- TITLE: Oscillator Models and Collective Motion:
Splay State Stabilization of Self-Propelled Particles,
- AUTHORS: D. Paley, N. Leonard, R.Sepulchre
- ABSTRACT: This paper presents a Lyapunov design for
the stabilization of collective motion in a planar kinematic model of N
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.
- STATUS: Published
- DATE OF ENTRY: September 2005.