Abstract
We provide a cooperative control algorithm to stabilize symmetric formations to motion around closed curves suitable for mobile sensor networks. This work extends previous results for stabilization of symmetric circular formations. We study a planar particle model with decentralized steering control subject to limited communication. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. We illustrate the result for a skewed superellipse, which is a type of curve that includes circles, ellipses, and rounded parallelograms.
Original language | English (US) |
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Pages (from-to) | 209-215 |
Number of pages | 7 |
Journal | Systems and Control Letters |
Volume | 57 |
Issue number | 3 |
DOIs | |
State | Published - Mar 2008 |
Externally published | Yes |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science(all)
- Mechanical Engineering
- Electrical and Electronic Engineering
Keywords
- Cooperative control
- Curvature
- Laplacian
- Oscillators
- Sensor networks