Flocking shape analysis of multi-agent systems

被引：5

作者：

Yang JiChen ^{[1
]}

Lu QiShao ^{[1
]}

Lang XiuFeng ^{[1
]}

机构：

[1] Beihang Univ, Dept Dynam & Control, Beijing 100191, Peoples R China

来源：

SCIENCE CHINA-TECHNOLOGICAL SCIENCES | 2010年 / 53卷 / 03期

基金：

中国国家自然科学基金;

关键词：

flocking; non-smooth control; multi-agent system; LEADER; CONSENSUS; AGENTS; DESIGN;

D O I：

10.1007/s11431-010-0072-x

中图分类号：

T [工业技术];

学科分类号：

08 ;

摘要：

In this paper, we consider the shape control in flocking behavior of a multi-agent system with a virtual leader. Besides the traditional flocking control terms, which include a gradient-based term, a velocity consensus term and a navigational feed-back in general, a new piecewise smooth neighbor-based local controller is added to regulate the configuration to the desired flocking shape. All agent velocities approach the desired velocity asymptotically, while collisions among agents can be avoided. Furthermore, based on the proved stability, we obtain three kinds of flocking shapes, such as those in a single line, vee shape or corner shape. Some numerical simulation results are provided to demonstrate theoretical issues.

引用

页码：741 / 747

页数：7

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