On synchronization and collision avoidance for mechanical systems

Nikhil Chopra, Dušan M. Stipanović, Mark W. Spong

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


The current interest in coordinating nonlinear dynamical systems with safety guarantees is driven by emerging practical applications. One of the primary objectives in coordination of multiple mechanical systems (agents) is velocity synchronization with guarantees for collision avoidance among the agents. However, previous results in this direction assume point models for the agent, allow only linear dynamics and neglect delays in communication between the agents. In this paper we demonstrate that velocity synchronization and collision avoidance are simultaneously achievable in non-point, nonlinear mechanical systems in the presence of communication delays and switching interconnection topologies. A numerical example is presented to justify the proposed results.

Original languageEnglish (US)
Title of host publication2008 American Control Conference, ACC
Number of pages6
StatePublished - Sep 30 2008
Event2008 American Control Conference, ACC - Seattle, WA, United States
Duration: Jun 11 2008Jun 13 2008

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Other2008 American Control Conference, ACC
Country/TerritoryUnited States
CitySeattle, WA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'On synchronization and collision avoidance for mechanical systems'. Together they form a unique fingerprint.

Cite this