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Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks 被引量:8
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作者 hui yu yong-ji wang 《International Journal of Automation and computing》 EI 2006年第1期8-16,共9页
Multiple mobile agents with double integrator dynamics, following a leader to achieve a flocking motion formation, are studied in this paper. A class of local control laws for a group of mobile agents is proposed. Fro... Multiple mobile agents with double integrator dynamics, following a leader to achieve a flocking motion formation, are studied in this paper. A class of local control laws for a group of mobile agents is proposed. From a theoretical proof, the following conclusions are reached: (i) agents globally align their velocity vectors with a leader, (ii) they converge their velocities to the leaders velocity, (iii) collisions among interconnected agents are avoided, and (iv) agent's artificial potential functions are minimized. We model the interaction and/or communication relationship between agents by algebraic graph theory. Stability analysis is achieved by using classical Lyapunov theory in a fixed network topology, and differential inclusions and nonsmooth analysis in a switching network topology respectively. Simulation examples are provided. 展开更多
关键词 Cooperative control FLOCKING multi-agent systems nonsmooth analysis.
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