DocumentCode :
728076
Title :
Stabilization of collective motion in synchronized, balanced and splay phase arrangements on a desired circle
Author :
Jain, Anoop ; Ghose, Debasish
Author_Institution :
Dept. of Aerosp. Eng., Indian Inst. of Sci., Bangalore, India
fYear :
2015
fDate :
1-3 July 2015
Firstpage :
731
Lastpage :
736
Abstract :
This paper proposes a design methodology to stabilize collective circular motion of a group of N-identical agents moving at unit speed around individual circles of different radii and different centers. The collective circular motion studied in this paper is characterized by the clockwise rotation of all agents around a common circle of desired radius as well as center, which is fixed. Our interest is to achieve those collective circular motions in which the phases of the agents are arranged either in synchronized, in balanced or in splay formation. In synchronized formation, the agents and their centroid move in a common direction while in balanced formation, the movement of the agents ensures a fixed location of the centroid. The splay state is a special case of balanced formation, in which the phases are separated by multiples of 2π/N. We derive the feedback controls and prove the asymptotic stability of the desired collective circular motion by using Lyapunov theory and the LaSalle´s Invariance principle.
Keywords :
Lyapunov methods; asymptotic stability; feedback; invariance; mobile robots; motion control; multi-robot systems; position control; synchronisation; velocity control; LaSalle invariance principle; Lyapunov theory; N-identical agents; agents movement; asymptotic stability; balanced formation; balanced phase arrangements; circle; clockwise rotation; collective circular motion; design methodology; feedback controls; splay formation; splay phase arrangements; splay state; stabilization; synchronized formation; synchronized phase arrangements; unit speed; Clocks; Dynamics; Feedback control; Lyapunov methods; Multi-agent systems; Orbits; Synchronization; Multiagent system; balancing; desired common circle; splay state; synchronization;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2015
Conference_Location :
Chicago, IL
Print_ISBN :
978-1-4799-8685-9
Type :
conf
DOI :
10.1109/ACC.2015.7170821
Filename :
7170821
Link To Document :
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