集体运动:双稳定性和轨迹跟踪

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601) Pub Date : 2004-12-01 DOI:10.1109/CDC.2004.1430330

D. Paley, Naomi Ehrich Leonard, R. Sepulchre

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引用次数: 76

摘要

本文对自走平面粒子网络的转向控制规律进行了分析和应用。我们一起探索两个稳定控制的群运动，平行运动和圆周运动，为建模和设计的目的。我们证明了先前考虑的控制律同时稳定平行和圆群运动，导致双稳态和滞后。我们还提出了支持分段线性网络轨迹跟踪的行为原语。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Collective motion: bistability and trajectory tracking

This paper presents analysis and application of steering control laws for a network of self-propelled, planar particles. We explore together the two stably controlled group motions, parallel motion and circular motion, for modeling and design purposes. We show that a previously considered control law simultaneously stabilizes both parallel and circular group motion, leading to bistability and hysteresis. We also present behavior primitives that enable piecewise-linear network trajectory tracking.

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来源期刊

2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601)

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