Flocking of multi-agents with nonlinear inner-coupling functions

Abstract

In this paper, we consider flocking of multiagents 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.

Flocking of multi‐agent dynamical systems with intermittent nonlinear velocity measurements

“…Remark Note that both the protocols proposed in and become inapplicable when there exist intermittent speed sensor failures during the evolution of the system. To guarantee such a multi‐agent system to achieve flocking, the protocol is introduced here.…”

“…To guarantee such a multi‐agent system to achieve flocking, the protocol is introduced here. It is also worth mentioning that the protocol reduces to the protocols investigated in when T = [0,+ ∞ ) and ϕ 1 ( z ) satisfies Assumption 1. Also, the protocol reduces to the protocol proposed in when T = [0,+ ∞ ) and ϕ 1 ( z ) = z , .…”

“…In practice, understanding the mechanisms responsible for the emergence of flocking in animal groups can help develop many artificial autonomous systems such as formation control of unmanned air vehicles, motion planning of mobile robots, and scheduling of automated highway systems . Recently, the problem of flocking control in multi‐agent systems has attracted increasing attention, which can be generally described as how to design distributed feedback algorithms based only on local information to guarantee the whole group to organize into a global flocking behavior .…”

Finite-time stability of multi-agent system in disturbed environment

“…These dynamical network systems cover a very broad spectrum of applications including cooperative control of unmanned air vehicles (UAVs) [3], autonomous underwater vehicles (AUVs) [4], distributed sensor networks [5], air and ground transportation systems [6], swarms of air and space vehicle formations [7,8], and congestion control in communication networks [9], to cite but a few examples. Hence, it is not surprising that a considerable research effort has been devoted to control of networks and control over networks in recent years [8,[10][11][12][13][14][15][16]. However, with the notable exception [17,18], finite-time coordination has been addressed in the literature.…”

Coordinative control of multi-agent systems using distributed nonlinear output regulation

“…tions in different fields such as unmanned air vehicles (UAVs), biology, robotics, and flocking [1][2][3][4]. Via different approaches, a great number of results for the consensus problem have been derived in [5][6][7][8][9][10][11].…”