Simultaneous velocity consensus and shape control for a finite number of point agents on the unit circle

• Autores: Christian Lageman, Uve Helmke, Brian D.O. Anderson
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 90, 2018, págs. 123-129
• Idioma: inglés
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• Resumen

  • 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.