Flocking of multi-agents with nonlinear inner-coupling functions

被引：36

作者：

Yang, Zhengquan ^{[1
]}

Zhang, Qing ^{[1
]}

Chen, Zengqiang ^{[2
]}

机构：

[1] Civil Aviat Univ China, Coll Sci, Tianjin 300300, Peoples R China

[2] Nankai Univ, Dept Automat, Tianjin 300071, Peoples R China

来源：

NONLINEAR DYNAMICS | 2010年 / 60卷 / 03期

关键词：

Multi-agents; Connectivity; Flocking; Nonlinear inner-coupling functions; Control law;

D O I：

10.1007/s11071-009-9593-x

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In this paper, we consider flocking of multi-agents with nonlinear inner-coupling functions. First, we propose a set of control laws when multi-agents without leader, and the control law acting on each agent relies on functions of the state information. We prove all agent velocities become asymptotically the same and avoidance of collisions between the agents is ensured. Then we present a set of control laws when multi-agents with a virtual leader, and the control law acting on each agent relies on functions of the state information and the external signal. With the control laws, all agents can follow the virtual leader; freedom from collisions between neighboring agents is ensured.

引用

页码：255 / 264

页数：10

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