Paper Info
Title
Collective circular motion of multi-vehicle systems
Abstract
This paper addresses a collective motion problem for a multi-agent system composed of nonholonomic vehicles. The aim of the vehicles is to achieve circular motion around a virtual reference beacon. A control law is proposed, which guarantees global asymptotic stability of the circular motion with a prescribed direction of rotation, in the case of a single vehicle. Equilibrium configurations of the multi-vehicle system are studied and sufficient conditions for their local stability are given, in terms of the control law design parameters. Practical issues related to sensory limitations are taken into account. The transient behavior of the multi-vehicle system is analyzed via numerical simulations.
Year
DOI
Venue
2008
10.1016/j.automatica.2008.04.024
Automatica
Keywords
Field
DocType
Multi-agent systems,Nonholonomic vehicles,Collective motion,Stability
Transient response,Collective motion,Control theory,Multi-agent system,Circular motion,Exponential stability,Nonholonomic system,Mathematics,Control synthesis
Journal
Volume
Issue
ISSN
44
12
Automatica
Citations 
PageRank 
References 
62
2.51
13
Authors
4
Name
Order
Citations
PageRank
N. Ceccarelli1622.51
M. Di Marco2945.89
Andrea Garulli388386.33
Giannitrapani, A.41349.36