CUED Publications database

Oscillator models and collective motion: Splay state stabilization of self-propelled particles

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..

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Abstract

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)
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Unnamed user with email sms67@cam.ac.uk
Date Deposited: 16 Jul 2015 13:03
Last Modified: 03 Sep 2015 06:04
DOI: 10.1109/CDC.2005.1582776