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Collective behavior with heterogeneous controllers
, D. Ghose
Published in Institute of Electrical and Electronics Engineers Inc.
Pages: 4629 - 4634
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. © 2013 AACC American Automatic Control Council.
About the journal
JournalData powered by TypesetProceedings of the American Control Conference
PublisherData powered by TypesetInstitute of Electrical and Electronics Engineers Inc.