Stabilization of Three-Dimensional Collective Motion

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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 on the Lie algebra. The resulting equilibria correspond to parallel, circular and helical formations. 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.
15 pages, 4 figures, Submitted

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Optimization and Control

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http://salesiana.dossiersoluciones.com/handle/123456789/163354

Consulte el texto completo en el siguiente enlace:

https://arxiv.org/abs/0806.3442
 http://arxiv.org/abs/0806.3442

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arXiv