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Boundary following using gyroscopic control

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3 Author(s)
Zhang, F. ; Inst. for Syst. Res., Maryland Univ., College Park, MD, USA ; Justh, E.W. ; Krishnaprasad, P.S.

Recent work in the study of interacting particles has demonstrated the effectiveness of gyroscopic interactions in producing desired stable spatial patterns (formations) of motion of a collective of particles. In this paper, we discuss the problem of how a single particle might interact with a fixed structure in space by exploiting gyroscopic feedback laws. We derive a gyroscopic feedback law modeling the interaction of a particle in the plane with an image particle representing the closest point on a simple closed curve bounding an obstacle and show that this law produces boundary-following behavior. We also provide a preliminary discussion of the three-dimensional case.

Published in:

Decision and Control, 2004. CDC. 43rd IEEE Conference on  (Volume:5 )

Date of Conference:

14-17 Dec. 2004