Stabilization of collective motion in three dimensions: A consensus approach

Luca Scardovi, Naomi Ehrich Leonard, Rodolphe Sepulchre

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

21 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
Pages2931-2936
Number of pages6
DOIs
StatePublished - 2007
Event46th IEEE Conference on Decision and Control 2007, CDC - New Orleans, LA, United States
Duration: Dec 12 2007Dec 14 2007

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other46th IEEE Conference on Decision and Control 2007, CDC
CountryUnited States
CityNew Orleans, LA
Period12/12/0712/14/07

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Fingerprint Dive into the research topics of 'Stabilization of collective motion in three dimensions: A consensus approach'. Together they form a unique fingerprint.

  • Cite this

    Scardovi, L., Leonard, N. E., & Sepulchre, R. (2007). Stabilization of collective motion in three dimensions: A consensus approach. In Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC (pp. 2931-2936). [4434721] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2007.4434721