Attitude‐synchronization flocking of multiple 3‐dimensional nonholonomic agents without position measurement

Abstract

Summary This paper studies the attitude‐synchronization flocking problem for multiple 3‐dimensional nonholonomic agents. By analyzing the nonlinearity of the nonholonomic model and invoking the neighbor‐based design principle, we develop a distributed linear control protocol with the local information from each agent and its neighbors in proximity, especially, no position measurement is employed. Based on max‐min and Lyapunov stability theory, the proposed distributed control protocol can ensure the 3 flocking rules and attitude synchronization meanwhile, if collision avoidance and communication connectivity are guaranteed at the initial time. Additionally, numerical simulations are provided to verify the theoretical results.

Formation Tracking Control for Multi-Agent Networks with Fixed Time Convergence via Terminal Sliding Mode Control Approach

“…Coordinated control for multi-agent networks has been studied with more and more attention recently owing to its diversified application value, such as consensus [ 1 , 2 , 3 ], formation [ 4 , 5 , 6 ], containment [ 7 , 8 ], flocking [ 9 , 10 ] and tracking [ 11 , 12 ] control problems. In [ 13 ], the synchronization control problem of multi-agent networks is solved by using chaos theory and the result is applied to the coupling circuits.…”