Stabilization of Three-Dimensional Collective Motion
| dc.creator | Scardovi, Luca | |
| dc.creator | Leonard, Naomi | |
| dc.creator | Sepulchre, Rodolphe | |
| dc.date | 2008-06-20 | |
| dc.date | 2008-06-21 | |
| dc.date.accessioned | 2026-07-07T09:45:54Z | |
| dc.date.available | 2026-07-07T09:45:54Z | |
| dc.description | 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. | |
| dc.description | 15 pages, 4 figures, Submitted | |
| dc.identifier | https://arxiv.org/abs/0806.3442 | |
| dc.identifier | http://arxiv.org/abs/0806.3442 | |
| dc.identifier.uri | http://salesiana.dossiersoluciones.com/handle/123456789/163354 | |
| dc.subject | Optimization and Control | |
| dc.title | Stabilization of Three-Dimensional Collective Motion | |
| dc.type | text |