TY - GEN
T1 - Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots
AU - Li, Qin
AU - Jiang, Zhong Ping
N1 - Funding Information:
⋆ This work has been supported in part by NSF grants ECS-0093176 and DMS-0504462, and in part by the NNSF of China under grant 60628302.
PY - 2008
Y1 - 2008
N2 - In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or the tracking reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a controller for the case where the set of AAs is fixed. By introducing dwell time for the topology-varying system, we define the solutions for the closed-loop system equations. The existence and uniqueness of the solution with any given non-singular initial condition is proved; and some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Finally, we apply the proposed controllers to the flocking control of a team of nonholonomic mobile robots.
AB - In this paper, we revisit the artificial potential based approach in the flocking control for multi-agent systems, where our main concerns are migration and trajectory tracking problems. The static destination or the tracking reference point is modeled by a virtual leader, whose information is utilized by some agents, called active agents (AA), for the controller design. We study a controller for the case where the set of AAs is fixed. By introducing dwell time for the topology-varying system, we define the solutions for the closed-loop system equations. The existence and uniqueness of the solution with any given non-singular initial condition is proved; and some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Finally, we apply the proposed controllers to the flocking control of a team of nonholonomic mobile robots.
KW - Decentralisation
KW - Intelligent control of large scale systems
KW - Large scale complex systems
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U2 - 10.3182/20080706-5-KR-1001.0940
DO - 10.3182/20080706-5-KR-1001.0940
M3 - Conference contribution
AN - SCOPUS:79961018867
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -