CUED Publications database

Stabilization of collective motion in three dimensions: A consensus approach

Scardovi, L and Leonard, NE and Sepulchre, R (2007) Stabilization of collective motion in three dimensions: A consensus approach. Proceedings of the IEEE Conference on Decision and Control. pp. 2931-2936. ISSN 0191-2216

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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. 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. © 2007 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 12:05
Last Modified: 08 Dec 2014 02:18
DOI: 10.1109/CDC.2007.4434721