{"title":"缠绕拉格朗日群体个体的LbCS导航控制器","authors":"R. P. Chand, S. Kumar, Ravinesh Chand","doi":"10.1109/NILES53778.2021.9600510","DOIUrl":null,"url":null,"abstract":"This paper presents stabilizing velocity controllers for the individuals of two Lagrangian swarms, which navigates from their initial configuration space to their final configuration space, ensuring intra and inter swarm individual collision avoidance. The motion of the individuals is based on Reynold's rules of separation, alignment, and cohesion. Using the three pillars (safety, shortest and smoothest path) of Lyapunov based control scheme (LbCS), the velocity controllers of the individuals of the two swarms are derived from multiple Lyapunov functions. The effectiveness of the controllers is validated through computer simulations.","PeriodicalId":249153,"journal":{"name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"8","resultStr":"{\"title\":\"LbCS navigation controllers of Twining Lagrangian swarm individuals\",\"authors\":\"R. P. Chand, S. Kumar, Ravinesh Chand\",\"doi\":\"10.1109/NILES53778.2021.9600510\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents stabilizing velocity controllers for the individuals of two Lagrangian swarms, which navigates from their initial configuration space to their final configuration space, ensuring intra and inter swarm individual collision avoidance. The motion of the individuals is based on Reynold's rules of separation, alignment, and cohesion. Using the three pillars (safety, shortest and smoothest path) of Lyapunov based control scheme (LbCS), the velocity controllers of the individuals of the two swarms are derived from multiple Lyapunov functions. The effectiveness of the controllers is validated through computer simulations.\",\"PeriodicalId\":249153,\"journal\":{\"name\":\"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)\",\"volume\":\"25 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-10-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"8\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/NILES53778.2021.9600510\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NILES53778.2021.9600510","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
LbCS navigation controllers of Twining Lagrangian swarm individuals
This paper presents stabilizing velocity controllers for the individuals of two Lagrangian swarms, which navigates from their initial configuration space to their final configuration space, ensuring intra and inter swarm individual collision avoidance. The motion of the individuals is based on Reynold's rules of separation, alignment, and cohesion. Using the three pillars (safety, shortest and smoothest path) of Lyapunov based control scheme (LbCS), the velocity controllers of the individuals of the two swarms are derived from multiple Lyapunov functions. The effectiveness of the controllers is validated through computer simulations.
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