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Simultaneous velocity consensus and shape control for a finite number of point agents on the unit circle

Lageman, Christian; Helmke, Uwe; Anderson, Brian


In this paper we study a second order, distributed control system for a finite number of point agents on the unit circle that achieves simultaneously velocity consensus and distance based formation shape control. Based on tools from Riemannian geometry, we propose a system of second order differential equations on the N-dimensional torus that achieves these two goals. We prove convergence of the trajectories to single closed geodesics on a torus and investigate the stability properties of the...[Show more]

CollectionsANU Research Publications
Date published: 2018-04
Type: Journal article
Source: Automatica
DOI: 10.1016/j.automatica.2017.12.060
Access Rights: Open Access


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