Paley, DA and Leonard, NE and Sepulchre, R (2005) Oscillator models and collective motion: Splay state stabilization of self-propelled particles. In: UNSPECIFIED pp. 3935-3940..Full text not available from this repository.
This paper presents a Lyapunov design for the stabilization of collective motion in a planar kinematic model of N particles 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. © 2005 IEEE.
|Item Type:||Conference or Workshop Item (UNSPECIFIED)|
|Divisions:||Div F > Control|
|Depositing User:||Cron Job|
|Date Deposited:||18 May 2016 19:16|
|Last Modified:||25 Jul 2016 08:55|