A collisionless singular cucker-smale model with decentralized formation control

Young Pil Choi; Dante Kalise; Jan Peszek; Andres A. Peters

doi:10.1137/19M1241799

A collisionless singular cucker-smale model with decentralized formation control

Young Pil Choi, Dante Kalise, Jan Peszek, Andres A. Peters

Faculty of Engineering and Science

Research output: Contribution to journal › Article › peer-review

59 Scopus citations

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 preassigned subset of neighbors. 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.

Original language	English
Pages (from-to)	1954-1981
Number of pages	28
Journal	SIAM Journal on Applied Dynamical Systems
Volume	18
Issue number	4
DOIs	https://doi.org/10.1137/19M1241799
State	Published - 2019

Keywords

Decentralized control
Flocking
Formation control
Multi-agent systems
Pattern formation

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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 preassigned subset of neighbors. 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.",

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N2 - 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 preassigned subset of neighbors. 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.

AB - 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 preassigned subset of neighbors. 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.

KW - Decentralized control

KW - Flocking

KW - Formation control

KW - Multi-agent systems

KW - Pattern formation

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JO - SIAM Journal on Applied Dynamical Systems

JF - SIAM Journal on Applied Dynamical Systems

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A collisionless singular cucker-smale model with decentralized formation control

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Keywords

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