DocumentCode
435187
Title
Collective motion: bistability and trajectory tracking
Author
Paley, Derek ; Leonard, Naomi Ehrich ; Sepulchre, Rodolphe
Author_Institution
Mech. & Aerosp. Eng., Princeton Univ., NJ, USA
Volume
2
fYear
2004
fDate
14-17 Dec. 2004
Firstpage
1932
Abstract
This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to bistability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.
Keywords
motion control; piecewise linear techniques; position control; stability; bistability tracking; circular group motion; controlled group motions; parallel group motion; piecewise-linear network trajectory tracking; self-propelled planar particle network; steering control laws; Automotive engineering; Educational institutions; Hysteresis; Kinematics; Marine animals; Motion control; Oscillators; Piecewise linear techniques; Tracking; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1430330
Filename
1430330
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