Three-dimensional circular formations via set stabilization

• Mohamed I. El-Hawwary ^[1]
  1. [1] Cairo University

     Cairo University

     Egipto

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 54, 2015, págs. 374-381
• Idioma: inglés
• Texto completo no disponible (Saber más ...)
• Resumen

  • The paper addresses distributed stabilization of a class of circular formations for steered kinematic particles in three-dimensional Euclidean space. Information exchange between the particles is modeled by a bidirectional graph which is assumed to have a spanning tree. Distributed control design is based on a hierarchical approach that relies on set stabilization and a reduction principle for asymptotic stability of closed sets. The approach allows to solve for different formation specifications in a decoupled manner.