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Distributed flocking control with ellipsoidal level sets
Publikationstyp
Conference Paper
Date Issued
2024-07-10
Sprache
English
Start Page
1018
End Page
1023
Citation
American Control Conference (ACC 2024)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
IEEE
ISBN
979-8-3503-8266-2
979-8-3503-8265-5
This paper proposes a framework for two- and three-dimensional distributed flocking control based on potential functions with ellipsoidal level sets. Contrary to most flocking frameworks in the existing literature, the presented approach allows for tuning the inter-agent distances in different directions individually. By defining a desired ellipsoidal lattice configuration based on an elliptic transformation matrix, the proposed flocking protocol can be formulated as a generalization of established spherical flocking protocols. Furthermore, it is shown how standard stability analysis can be extended seamlessly to the proposed framework without additional difficulties or assumptions. Simulation scenarios demonstrate the superior performance of the proposed scheme compared to existing ones.
DDC Class
004: Computer Sciences