TY - GEN
T1 - Stabilization of collective motion in three dimensions
T2 - 46th IEEE Conference on Decision and Control 2007, CDC
AU - Scardovi, Luca
AU - Leonard, Naomi Ehrich
AU - Sepulchre, Rodolphe
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62749179671&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62749179671&partnerID=8YFLogxK
U2 - 10.1109/CDC.2007.4434721
DO - 10.1109/CDC.2007.4434721
M3 - Conference contribution
AN - SCOPUS:62749179671
SN - 1424414989
SN - 9781424414987
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2931
EP - 2936
BT - Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 12 December 2007 through 14 December 2007
ER -