TY - GEN
T1 - Oscillator models and collective motion
T2 - 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
AU - Paley, Derek A.
AU - Leonard, Naomi Ehrich
AU - Sepulchre, Rodolphe
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33847176230&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33847176230&partnerID=8YFLogxK
U2 - 10.1109/CDC.2005.1582776
DO - 10.1109/CDC.2005.1582776
M3 - Conference contribution
AN - SCOPUS:33847176230
SN - 0780395689
SN - 9780780395688
T3 - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
SP - 3935
EP - 3940
BT - Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Y2 - 12 December 2005 through 15 December 2005
ER -