Stable Flocking Motion of Multi-agent Formation in 3-dimensional Space

被引：0
作者：
Yu, Yongguang [1 ,3 ]
Li, Han-Xiong [2 ,3 ]
机构：
[1] Beijing Jiaotong Univ, Dept Math, Beijing 100044, Peoples R China
[2] Cent South Univ, Sch Mech & Elect Engn, Changsha 410083, Peoples R China
[3] Univ Hong Kong, Dept MEEM, Hong Kong, Peoples R China
来源：
2008 7TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-23 | 2008年
关键词：
Cooperative control; flocking; multi-agent formation; Leader;
D O I：
10.1109/WCICA.2008.4593387
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper investigates the flocking behaviors of multi-agent formation in 3-dimensional space which are based on leader following. A class of decentralized control laws for a group of mobile agents are proposed under the conditions that the topology of the control interconnections is fixed. These control laws are a combination of attractive/repulsive and alignments forces which can guarantee the collision avoidance and cohesion of the formation and an aggregate motion along the same heading direction of the leader. According to the algebraic graph theory, we model the interconnection relationship of multi-agent formation, and achieve the stability analysis of the system by Lyapunov theory.
引用
收藏
页码：2906 / +
页数：3
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