ADAPTIVE FLOCKING CONTROL WITH A MINORITY OF INFORMED AGENTS

被引：4
作者：
Lou, Ke [1 ,2 ]
Cui, Baotong [1 ]
Ye, Qian [1 ]
机构：
[1] Jiangnan Univ, Key Lab Adv Proc Control Light Ind, Minist Educ, Dept Informat Technol, Wuxi 214122, Jiangsu, Peoples R China
[2] Anhui Polytech Univ, Coll Elect Engn, Anhui Prov Key Lab China 10111406006, Wuhu 241000, Anhui, Peoples R China
来源：
ASIAN JOURNAL OF CONTROL | 2013年 / 15卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Distributed control; adaptive flocking; multiple agents; virtual leader; MULTIAGENT SYSTEMS; ALGORITHM; CONNECTIVITY;
D O I：
10.1002/asjc.660
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we address the flocking problem of multiple dynamic mobile agents with a virtual leader in a dynamic proximity network. To avoid fragmentation, we propose a novel flocking algorithm that consists of both an adaptive controller for followers and a feedback controller for the virtual leader. Based on our algorithm, all agents in the group can form a network, maintain connectivity, and track the virtual leader, even when only a minority of agents have access to the information of the virtual leader. Finally, several convincing simulation results are provided that demonstrate 2-D flocking of a group of agents using the proposed algorithm.
引用
收藏
页码：1510 / 1515
页数：6
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