Phase Synchronization With Intermittent Locomotion and Nonoverlapping Sensing and Actuation

This article presents a dynamic model of multiple self-propelled particles with a periodic controller inspired by the intermittent locomotive behavior in various fish species. The closed-loop dynamics are split into a burst phase during which each particle applies a control input and a coast phase during which each particle performs state estimation. This model allows us to investigate how having nonoverlapping sensing and control affects a system's ability to achieve collective behavior such as steering to some desired direction. Using a closed-loop heading controller and a linear observer, we evaluate the stability properties of the equilibrium points of a single particle system for state feedback with bounded actuator noise and output feedback with bounded sensor noise. These results are then extended to a multiparticle system for the state- and output-feedback cases with both synchronous and asynchronous burst phases.