Stabilization laws for collective motion in three dimensions

Luca Scardovi, Rodolphe Sepulchre, Naomi Ehrich Leonard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

This paper proposes a framework for the design of control laws that stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Under the assumption of all-to-all communication, the derived control laws only require relative orientations and positions. We extend the obtained results in the presence of limited communication topologies by equipping each agent with a consensus estimator.

Original languageEnglish (US)
Title of host publication2007 European Control Conference, ECC 2007
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4591-4597
Number of pages7
ISBN (Electronic)9783952417386
DOIs
StatePublished - 2007
Event2007 9th European Control Conference, ECC 2007 - Kos, Greece
Duration: Jul 2 2007Jul 5 2007

Publication series

Name2007 European Control Conference, ECC 2007

Other

Other2007 9th European Control Conference, ECC 2007
CountryGreece
CityKos
Period7/2/077/5/07

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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    Scardovi, L., Sepulchre, R., & Leonard, N. E. (2007). Stabilization laws for collective motion in three dimensions. In 2007 European Control Conference, ECC 2007 (pp. 4591-4597). [7068915] (2007 European Control Conference, ECC 2007). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ecc.2007.7068915