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Group Coordination and Cooperative Control of Steered Particles in the Plane

  • R. Sepulchre
  • D.A. Paley
  • N.E. Leonard
Chapter
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 336)

Abstract

The paper overviews recent and ongoing efforts by the authors to develop a design methodology to stabilize isolated relative equilibria in a kinematic model of identical particles moving in the plane at unit speed. Isolated relative equilibria correspond to either parallel motion of all particles with fixed relative spacing or to circular motion of all particles about the same center with fixed relative headings.

Keywords

Lyapunov Function Connected Graph Relative Equilibrium Autonomous Underwater Vehicle Circular Motion 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin/Heidelberg 2006

Authors and Affiliations

  • R. Sepulchre
    • 1
  • D.A. Paley
    • 2
  • N.E. Leonard
    • 2
  1. 1.Electrical Engineering and Computer Science, Université de Liège, Institut Montefiore B28, B-4000 LiègeBelgium
  2. 2.Mechanical and Aerospace Engineering, Princeton University, Princeton, NJ 08544USA

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