| Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks |
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| 作者姓名： | Hui Yu Yong-Ji Wang |
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| 作者单位： | Department of control science ＆ Engineering, Huazhong University of Science ＆ Technology, Wuhan 430074, PRC |
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| 基金项目： | This work was supported in part by the NSFC (No.60274020)
and the NSFC International Collaborative Project (No.60340420431). |
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| 摘 要： | Multiple mobile agents with double integrator dynamics, following a leader to achieve a flocking motion formation, are studied in this paper. A class of local control laws for a group of mobile agents is proposed. Prom a theoretical proof, the following conclusions are reached: (i) agents globally align their velocity vectors with a leader, (ii) they converge their velocities to the leaders velocity, (iii) collisions among interconnected agents are avoided, and (iv) agent's artificial potential functions are minimized. We model the interaction and/or communication relationship between agents by algebraic graph theory. Stability analysis is achieved by using classical Lyapunov theory in a fixed network topology, and differential inclusions and nonsmooth analysis in a switching network topology respectively. Simulation examples are provided.
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| 关 键 词： | 协同控制 多Agent系统 非光滑分析 开关网络 |
| 收稿时间： | 2005-03-01 |
| 修稿时间： | 2005-09-15 |
Stable flocking motion of mobile agents following a leader in fixed and switching networks |
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| Hui Yu Yong-Ji Wang.Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks[J].International Journal of Automation and computing,2006,3(1):8-16. |
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| Authors: | Hui Yu Yong-Ji Wang |
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| Affiliation: | (1) Department of control science & Engineering, Huazhong University of Science & Technology, Wuhan, 430074, PRC |
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| Abstract: | Multiple mobile agents with double integrator dynamics, following a leader to achieve a flocking motion formation, are studied in this paper. A class of local control laws for a group of mobile agents is proposed. Prom a theoretical proof, the following conclusions are reached: (i) agents globally align their velocity vectors with a leader, (ii) they converge their velocities to the leaders velocity, (iii) collisions among interconnected agents are avoided, and (iv) agent's artificial potential functions are minimized. We model the interaction and/or communication relationship between agents by algebraic graph theory. Stability analysis is achieved by using classical Lyapunov theory in a fixed network topology, and differential inclusions and nonsmooth analysis in a switching network topology respectively. Simulation examples are provided. |
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| Keywords: | Cooperative control flocking multi-agent systems nonsmooth analysis |
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