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Stabilization of Collective Motion in Synchronized, Balanced and Splay Phase Arrangements on a Desired Circle

Jain, Anoop and Ghose, Debasish (2016) Stabilization of Collective Motion in Synchronized, Balanced and Splay Phase Arrangements on a Desired Circle. In: American Control Conference, JUL 01-03, 2015, Chicago, IL, pp. 731-736.

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Official URL: http://dx.doi.org/10.1007/978-3-319-26129-4_3


This paper proposes a design methodology to stabilize collective circular motion of a group of N-identical agents moving at unit speed around individual circles of different radii and different centers. The collective circular motion studied in this paper is characterized by the clockwise rotation of all agents around a common circle of desired radius as well as center, which is fixed. Our interest is to achieve those collective circular motions in which the phases of the agents are arranged either in synchronized, in balanced or in splay formation. In synchronized formation, the agents and their centroid move in a common direction while in balanced formation, the movement of the agents ensures a fixed location of the centroid. The splay state is a special case of balanced formation, in which the phases are separated by multiples of 2 pi/N. We derive the feedback controls and prove the asymptotic stability of the desired collective circular motion by using Lyapunov theory and the LaSalle's Invariance principle.

Item Type: Conference Proceedings
Series.: Proceedings of the American Control Conference
Publisher: IEEE
Additional Information: Copy right for this article belongs to the IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
Keywords: Multiagent system; synchronization; balancing; splay state; desired common circle
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 02 Apr 2016 06:20
Last Modified: 02 Apr 2016 06:20
URI: http://eprints.iisc.ac.in/id/eprint/53567

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