Jain, Anoop and Ghose, Debasish (2013) Collective behavior with heterogeneous controllers. In: 2013 American Control Conference (ACC), 17-19 June 2013, Washington, DC, pp. 4629-4634.
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In this paper, we study the collective motion of individually controlled planar particles when they are coupled through heterogeneous controller gains. Two types of collective formations, synchronization and balancing, are described and analyzed under the influence of these heterogeneous controller gains. These formations are characterized by the motion of the centroid of the group of particles. In synchronized formation, the particles and their centroid move in a common direction, while in balanced formation the movement of particles possess a fixed location of the centroid. We show that, by selecting suitable controller gains, these formations can be controlled significantly to obtain not only a desired direction of motion but also a desired location of the centroid. We present the results for N-particles in synchronized formation, while in balanced formation our analysis is confined to two and three particles.
|Item Type:||Conference Paper|
|Additional Information:||Copyright of this article belongs to IEEE.|
|Department/Centre:||Division of Mechanical Sciences > Aerospace Engineering (Formerly, Aeronautical Engineering)|
|Date Deposited:||20 Dec 2013 09:39|
|Last Modified:||20 Dec 2013 09:39|
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