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Author Paley, D.A. ♦ Leonard, N.E.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2006
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Oscillators ♦ Frequency ♦ Motion control ♦ USA Councils ♦ Feedback control ♦ Turning ♦ Orbits ♦ Shape control ♦ Aerospace engineering ♦ Computer science
Abstract We provide feedback control laws to stabilize formations of multiple, unit speed particles on smooth, convex, and closed curves with definite curvature. As in previous work we exploit an analogy with coupled phase oscillators to provide controls which isolate symmetric particle formations that are invariant to rigid translation of all the particles. In this work, we do not require all particles to be able to communicate; rather we assume that inter-particle communication is limited and can be modeled by a fixed, connected, and undirected graph. Because of their unique spectral properties, the Laplacian matrices of circulant graphs play a key role. The methodology is demonstrated using a superellipse, which is a type of curve that includes circles, ellipses, and rounded rectangles. These results can be used in applications involving multiple autonomous vehicles that travel at constant speed around fixed beacons
Description Author affiliation: Mech. & Aerosp. Eng., Princeton Univ., NJ (Paley, D.A.)
ISBN 1424401712
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2006-12-13
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 7.20 MB
Page Count 6
Starting Page 5067
Ending Page 5072

Source: IEEE Xplore Digital Library