Paper ID sheet - Systems and Control at ULg
- TITLE: Stabilization
of planar collective motion with all-to-all communication
- AUTHORS: R. Sepulchre, D. Paley, N. Leonard.
- ABSTRACT: This paper proposes a design methodology
to stabilize isolated relative equilibria in a kinematic model of
all-to-all coupled identical particles moving in the plane at unit speed.
Isolated relative equilibria either
correspond to parallel motion of all particles with fixed relative
spacing or to circular motion of all
particles with fixed relative phases. The stabilizing feedbacks derive from
Lyapunov functions that prove
exponential stability and suggest almost global convergence properties.
The results of the paper provide a
low-order parametric family of stabilizable collectives that offer a set
of primitives for the design of
higher-level tasks at the group level.
- STATUS: To appear in IEEE Transactions on Automatic
Control, June 2005.
- DATE OF ENTRY: June 2005.
- Paper: pdf
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