Title :
Distributed stabilization of 3D circular formations
Author :
El-Hawwary, Mohamed I.
Author_Institution :
Dept. of Electr. Eng., Cairo Univ., Cairo, Egypt
Abstract :
The paper presents distributed control design to stabilize circular formations of steered particles in three-dimensional space. In formation, the particles are required to follow equal radius circular paths with common orientation, but not necessarily common center. The formation is given by specifying desired separations of the centers of the circular paths and desired relative headings. The information exchange between the particles is modeled by a directed graph which is assumed to have a spanning tree. Control design is based on a hierarchical approach utilizing a reduction principle for asymptotic stability of closed sets.
Keywords :
asymptotic stability; control system synthesis; directed graphs; distributed control; position control; trees (mathematics); 3D circular formations; asymptotic stability; directed graph; distributed control design; distributed stabilization; equal radius circular paths; hierarchical approach; information exchange; reduction principle; spanning tree; steered particles; three-dimensional space; Asymptotic stability; Closed loop systems; Control design; Kinematics; Laplace equations; Synchronization; Vectors;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich
