Adaptive flocking with a virtual leader of multiple agents governed by locally Lipschitz nonlinearity

被引:81
作者
Su, Housheng [1 ]
Zhang, Ningzi [1 ]
Chen, Michael Z. Q. [2 ]
Wang, Hongwei [1 ]
Wang, Xiaofan [3 ]
机构
[1] Huazhong Univ Sci & Technol, Educ Minist China, Dept Control Sci & Engn, Image Proc & Intelligent Key Lab, Wuhan 430074, Peoples R China
[2] Univ Hong Kong, Dept Mech Engn, Hong Kong, Hong Kong, Peoples R China
[3] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
关键词
Adaptive flocking; Multi-agent systems; Locally Lipschitz condition; Nonlinearity; Virtual leader; MULTIAGENT SYSTEMS; DYNAMIC-SYSTEMS; SYNCHRONIZATION; CONSENSUS;
D O I
10.1016/j.nonrwa.2012.06.010
中图分类号
O29 [应用数学];
学科分类号
070104 ;
摘要
This paper investigates adaptive flocking of multi-agent systems (MASs) with a virtual leader. All agents and the virtual leader share the same intrinsic nonlinear dynamics, which satisfies a locally Lipschitz condition and depends on both position and velocity information for the agent itself. Under the assumption that the initial network is connected, an approach to preserving the connectivity of the network is proposed. On the basis of the Lyapunov stability theory, an adaptive flocking control law is derived, for making the MASs track the virtual leader without collision. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码:798 / 806
页数:9
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