Simultaneous velocity consensus and shape control for a finite number of point agents on the unit circle
dc.contributor.author | Lageman, Christian | |
dc.contributor.author | Helmke, Uwe | |
dc.contributor.author | Anderson, Brian | |
dc.date.accessioned | 2021-03-16T00:19:53Z | |
dc.date.issued | 2018-04 | |
dc.date.updated | 2020-11-23T11:54:26Z | |
dc.description.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. | en_AU |
dc.description.sponsorship | This work was supported by the DAAD with funds of the German Federal Ministry of Education and Research (BMBF). Further, U. Helmke was supported by DFG Grant HE 1858/13-1. B.D.O. Anderson was supported by Data61-CSIRO (formerly NICTA) and by the Australian Research Council under grants DP110100538, DP130103610 and DP160104500. | en_AU |
dc.format.mimetype | application/pdf | en_AU |
dc.identifier.issn | 0005-1098 | en_AU |
dc.identifier.uri | http://hdl.handle.net/1885/227199 | |
dc.language.iso | en_AU | en_AU |
dc.provenance | https://v2.sherpa.ac.uk/id/publication/4278..."Author accepted manuscript can be made available open access on institutional repository after 24 month embargo with CC BY-NC-ND License" from SHERPA/RoMEO site (as at 16.3.21). | |
dc.publisher | Pergamon-Elsevier Ltd | en_AU |
dc.relation | http://purl.org/au-research/grants/arc/DP110100538 | en_AU |
dc.relation | http://purl.org/au-research/grants/arc/DP130103610 | en_AU |
dc.relation | http://purl.org/au-research/grants/arc/DP160104500 | en_AU |
dc.rights | © 2018 Elsevier Ltd. | en_AU |
dc.rights.license | Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) | |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/4.0/ | |
dc.source | Automatica | en_AU |
dc.subject | Decentralized control | en_AU |
dc.subject | Formation control | en_AU |
dc.subject | Velocity consensus | en_AU |
dc.subject | Riemannian geometry | en_AU |
dc.subject | Second-order systems | en_AU |
dc.title | Simultaneous velocity consensus and shape control for a finite number of point agents on the unit circle | en_AU |
dc.type | Journal article | en_AU |
dcterms.accessRights | Open Access | |
dcterms.dateAccepted | 2017-11-28 | |
local.bibliographicCitation.lastpage | 129 | en_AU |
local.bibliographicCitation.startpage | 123 | en_AU |
local.contributor.affiliation | Lageman, Christian, University of Wurzburg | en_AU |
local.contributor.affiliation | Helmke, Uwe, University of Wurzburg | en_AU |
local.contributor.affiliation | Anderson, Brian, College of Engineering and Computer Science, ANU | en_AU |
local.contributor.authoremail | u8104642@anu.edu.au | en_AU |
local.contributor.authoruid | Anderson, Brian, u8104642 | en_AU |
local.description.notes | Imported from ARIES | en_AU |
local.identifier.absfor | 010102 - Algebraic and Differential Geometry | en_AU |
local.identifier.absfor | 089999 - Information and Computing Sciences not elsewhere classified | en_AU |
local.identifier.absfor | 099999 - Engineering not elsewhere classified | en_AU |
local.identifier.ariespublication | u6048437xPUB559 | en_AU |
local.identifier.citationvolume | 90 | en_AU |
local.identifier.doi | 10.1016/j.automatica.2017.12.060 | en_AU |
local.identifier.scopusID | 2-s2.0-85041484532 | |
local.identifier.uidSubmittedBy | u6048437 | en_AU |
local.publisher.url | https://www.sciencedirect.com/ | en_AU |
local.type.status | Accepted Version | en_AU |
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