Simultaneous velocity consensus and shape control for a finite number of point agents on the unit circle
Date
2018-04
Authors
Lageman, Christian
Helmke, Uwe
Anderson, Brian
Journal Title
Journal ISSN
Volume Title
Publisher
Pergamon-Elsevier Ltd
Abstract
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 distributed algorithm.
Description
Keywords
Decentralized control, Formation control, Velocity consensus, Riemannian geometry, Second-order systems
Citation
Collections
Source
Automatica
Type
Journal article
Book Title
Entity type
Access Statement
Open Access
License Rights
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
Restricted until
Downloads
File
Description
Author Accepted Manuscript