A connectivity-preserving flocking algorithm for multi-agent systems based only on position measurements

被引：164

作者：

Su, Housheng ^{[1
]}

Wang, Xiaofan ^{[1
]}

Chen, Guanrong ^{[2
]}

机构：

[1] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200030, Peoples R China

[2] City Univ Hong Kong, Dept Elect Engn, Hong Kong, Hong Kong, Peoples R China

来源：

INTERNATIONAL JOURNAL OF CONTROL | 2009年 / 82卷 / 07期

关键词：

distributed control; non-linear system; flocking; network connectivity; multi-agent system; STABILITY ANALYSIS; OBSTACLE AVOIDANCE; COORDINATION; AGENTS;

D O I：

10.1080/00207170802549578

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Most existing flocking algorithms rely on information about both relative position and relative velocity among neighbouring agents. In this article, we investigate the flocking problem with only position measurements. We propose a provably-stable flocking algorithm, in which an output vector is produced by distributed filters based on position information alone but not velocity information. Under the assumption that the initial interactive network is connected, the flocking algorithm not only can steer a group of agents to a stable flocking motion, but also can preserve the connectivity of the interactive network during the dynamical evolution. Moreover, we investigate the flocking algorithm with a virtual leader and show that all agents can asymptotically attain a desired velocity even if only one agent in the team has access to the information of the virtual leader. We finally show some numerical simulations to illustrate the theoretical results.

引用

页码：1334 / 1343

页数：10