A collisionless singular Cucker-Smale model with decentralized formation control
Abstract
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the distance between each agent and pre-assigned subset of neighbours. Such a design represents a multidimensional extension of existing control laws for 1d platoon formation control. For the proposed controller we study consensus emergence, collision-avoidance and formation control features in terms of energy estimates for the closed-loop system. Numerical experiments in 1, 2 and 3 dimensions assess the different features of the proposed design.
- Publication:
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arXiv e-prints
- Pub Date:
- July 2018
- DOI:
- 10.48550/arXiv.1807.05177
- arXiv:
- arXiv:1807.05177
- Bibcode:
- 2018arXiv180705177C
- Keywords:
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- Mathematics - Optimization and Control;
- Computer Science - Multiagent Systems;
- Mathematics - Dynamical Systems;
- Nonlinear Sciences - Adaptation and Self-Organizing Systems;
- Nonlinear Sciences - Pattern Formation and Solitons
- E-Print:
- 26 pages, 5 figures, SIAM Journal of Applied Dynamical Systems