Application of Oscillator Dynamics for Deviated Pursuit Formations: Preliminary Results

Karthi Ramachandran, Jyh Ching Juang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this article, the application of Hopf oscillator for a group of agents connected cyclically is studied in regards to improve the robustness of the linear deviated cyclic pursuit protocol. The linear cyclic pursuit protocol suffers from the robustness problem due to the rotation angle of the line of sight between the agents, as a small perturbation in the rotation angle can cause the system to become structurally unstable, which makes the overall system either stable or unstable. To maintain a geometric pattern the linear system should maintain its marginal stability. To address this issue, individual agents connected via cyclic protocol are modeled to behave like Hopf oscillators. Consequently, two control laws are introduced based on Hopf oscillators, one with a static target at the origin and other with a virtual circular moving target. With a static target we show that it is possible to utilize the coupling gain to render geometric patterns and with a virtual target we can render geometric patterns inherently with the amplitude and frequency parameters of the virtual target along with rotation angle flexibility. For both the cases we utilize Poincaré map to show the existence of trochoidal like quasi-periodic trajectories.

Original languageEnglish
Title of host publication2021 International Automatic Control Conference, CACS 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781665444125
DOIs
Publication statusPublished - 2021
Event2021 International Automatic Control Conference, CACS 2021 - Chiayi, Taiwan
Duration: 2021 Nov 32021 Nov 6

Publication series

Name2021 International Automatic Control Conference, CACS 2021

Conference

Conference2021 International Automatic Control Conference, CACS 2021
Country/TerritoryTaiwan
CityChiayi
Period21-11-0321-11-06

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Aerospace Engineering
  • Automotive Engineering
  • Control and Systems Engineering
  • Control and Optimization

Fingerprint

Dive into the research topics of 'Application of Oscillator Dynamics for Deviated Pursuit Formations: Preliminary Results'. Together they form a unique fingerprint.

Cite this