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2008 Stabilization of Three-Dimensional Collective Motion
Luca Scardovi, Naomi Leonard, Rodolphe Sepulchre
Commun. Inf. Syst. 8(4): 473-500 (2008).


This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the stabilization problem is reduced to a consensus problem on the Lie algebra. The resulting equilibria correspond to parallel, circular and helical formations. We first derive the stabilizing control laws in the presence of all-to-all communication. Providing each agent with a consensus estimator, we then extend the results to a general setting that allows for unidirectional and time-varying communication topologies.


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Luca Scardovi. Naomi Leonard. Rodolphe Sepulchre. "Stabilization of Three-Dimensional Collective Motion." Commun. Inf. Syst. 8 (4) 473 - 500, 2008.


Published: 2008
First available in Project Euclid: 6 May 2009

zbMATH: 1168.93007
MathSciNet: MR2495750

Rights: Copyright © 2008 International Press of Boston


Vol.8 • No. 4 • 2008
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