NDLI: Unified Cooperative Control of Multiple Agents on a Sphere for Different Spherical Patterns

Content Provider	IEEE Xplore Digital Library
Author	Wei Li Spong, M.W.
Copyright Year	1963
Abstract	In this technical note, we consider the cooperative control of multiple agents on a sphere, provide the appropriate attraction-repulsion interactions between agents with introduction of the state-dependent repulsive coefficients, and design the unified control laws for agents to achieve three fundamental spherical configurations or patterns: rendezvous, uniform deployment, and formation, using both the first- and second-order models. We present the analysis of the stability, scaling and geometric patterns of the models on the sphere under different attraction-repulsion parameters, with illustration of the geometrical patterns and the geometrical isomerism by simulations. The closed-loop dynamics of agents are invariant with respect to group rotation actions on the sphere.
Sponsorship	IEEE Control Systems Society
Starting Page	1283
Ending Page	1289
Page Count	7
File Size	1492451
File Format	PDF
ISSN	00189286
Volume Number	59
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aerospace electronics Oscillators Force Dynamics Manifolds Analytical models Stability analysis spherical pattern Cooperative control deployment formation manifold motion patterns rendezvous spherical cooperation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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