کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
697831 | 890383 | 2009 | 5 صفحه PDF | دانلود رایگان |
We provide a Lyapunov-based design of decentralized control laws that stabilize relative equilibria in a model of self-propelled particles that travel on the surface of a sphere. Such control laws have applications in planetary-scale mobile sensing networks in air, sea, and space. Relative equilibria of the closed-loop model include formations in which all of the particles travel around a common circular trajectory. Particle interaction can be time-invariant or time-varying and directed or undirected. The algorithm for time-invariant and undirected particle interaction uses a gradient-like control induced from the associated Laplacian matrix. The algorithm for time-varying and directed interaction replaces average quantities in the control law with dynamic consensus variables. An augmented Laplacian algorithm is also proposed to stabilize symmetric circular formations.
Journal: Automatica - Volume 45, Issue 1, January 2009, Pages 212–216