Conservation and decay laws in distributed coordination control systems
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Sun, Zhiyong; Mou, Shaoshuai; Anderson, Brian; Yu, Changbin(Brad)
Description
In this paper we discuss and discover several conservation and associated decay laws in distributed coordination control systems, in particular in formation shape control systems. Specifically, we reveal conservations of linear momentum and angular momentum for gradient-based multi-agent formation systems modelled by single integrators, and show several corresponding conservation/decay laws for double-integrator formation stabilization systems and double-integrator flocking systems,...[Show more]
dc.contributor.author | Sun, Zhiyong | |
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dc.contributor.author | Mou, Shaoshuai | |
dc.contributor.author | Anderson, Brian | |
dc.contributor.author | Yu, Changbin(Brad) | |
dc.date.accessioned | 2020-01-21T02:52:45Z | |
dc.identifier.issn | 0005-1098 | |
dc.identifier.uri | http://hdl.handle.net/1885/198769 | |
dc.description.abstract | In this paper we discuss and discover several conservation and associated decay laws in distributed coordination control systems, in particular in formation shape control systems. Specifically, we reveal conservations of linear momentum and angular momentum for gradient-based multi-agent formation systems modelled by single integrators, and show several corresponding conservation/decay laws for double-integrator formation stabilization systems and double-integrator flocking systems, respectively. By exploiting translation and rotation symmetry properties and insights from Noether’s theorem, we further establish a multi-agent version of the relation between symmetry and conservation laws for gradient-based coordination systems derived from general potential functions, from which we generalize the conservation/decay laws to more general networked coordination control systems. The results hold in ambient spaces of any dimensions, and we focus on the 2-D and 3-D cases due to their natural interpretation as positions of agents. | |
dc.description.sponsorship | This work was supported by the Australian Research Council under grant DP130103610 and DP160104500. S. Mou’s research is supported by a funding from Northrop Grumman Corporation. Z. Sun was supported by the Australian Prime Minister’s Endeavour Postgraduate Award from Australian Government. | |
dc.format.mimetype | application/pdf | |
dc.language.iso | en_AU | |
dc.publisher | Elsevier | |
dc.rights | © 2017 Elsevier Ltd | |
dc.source | Automatica | |
dc.title | Conservation and decay laws in distributed coordination control systems | |
dc.type | Journal article | |
local.description.notes | Imported from ARIES | |
local.identifier.citationvolume | 87 | |
dc.date.issued | 2018 | |
local.identifier.absfor | 090602 - Control Systems, Robotics and Automation | |
local.identifier.ariespublication | a383154xPUB8794 | |
local.publisher.url | https://www.elsevier.com/ | |
local.type.status | Published Version | |
local.contributor.affiliation | Sun, Zhiyong, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Mou, Shaoshuai, Purdue University | |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | |
local.contributor.affiliation | Yu, Changbin (Brad), College of Engineering and Computer Science, ANU | |
local.description.embargo | 2037-12-31 | |
dc.relation | http://purl.org/au-research/grants/arc/DP130103610 | |
dc.relation | http://purl.org/au-research/grants/arc/DP160104500 | |
local.bibliographicCitation.startpage | 1 | |
local.bibliographicCitation.lastpage | 7 | |
local.identifier.doi | 10.1016/j.automatica.2017.08.024 | |
local.identifier.absseo | 810104 - Emerging Defence Technologies | |
dc.date.updated | 2019-11-25T07:22:28Z | |
local.identifier.scopusID | 2-s2.0-85030751662 | |
Collections | ANU Research Publications |
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