Virtual leader approach to coordinated control of multiple mobile agents   with asymmetric interactions

doi:10.1016/j.physd.2005.10.012

CORC > 北京大学 > 工学院

	Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions
	Shi, H ; Wang, L ; Chu, TG
刊名	physica d nonlinear phenomena
	2006
关键词	coordination collective dynamic behavior cooperative control flocking motion multi-agent systems networked systems swarm intelligence virtual leader STABILITY ANALYSIS COLLECTIVE MOTION SWITCHING TOPOLOGY AUTONOMOUS AGENTS FORAGING SWARMS ROBOTS PARTICLES
DOI	10.1016/j.physd.2005.10.012
英文摘要	This paper considers the collective dynamics of a group of mobile autonomous agents moving in Euclidean space with a virtual leader. We introduce a set of coordination control laws that enable the group to generate the desired stable flocking motion. The control laws are a combination of attractive/repulsive and alignment forces, and the control law acting on each agent relies on the state information of its flockmates and the external reference signal (or "virtual leader"). Using the control laws, all agent velocities asymptotically approach the desired velocity, collisions can be avoided between the agents, and the final tight formation minimizes all agent global potentials. Moreover, we show that the velocity of the center of mass either is equal to the desired velocity or exponentially converges to it. Furthermore, when the velocity damping is taken into account, we can appropriately modify the control laws to generate the same stable flocking motion. Subsequently, for the case where not all agents know the desired common velocity, we show that the desired flocking motion can still be guaranteed. Numerical simulations are worked out to illustrate our theoretical results. Additionally, we consider the effect of white noise on the collective dynamics of the group, and demonstrate numerically that the desired flocking motion can be kept for weak noise and, as the noise intensity increases, the flocking motion can be destroyed. (c) 2005 Elsevier B.V. All rights reserved.; Mathematics, Applied; Physics, Multidisciplinary; Physics, Mathematical; SCI(E); EI; 107; ARTICLE; 1; 51-65; 213
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/253000]
专题	工学院
推荐引用方式 GB/T 7714	Shi, H,Wang, L,Chu, TG. Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions[J]. physica d nonlinear phenomena,2006.
APA	Shi, H,Wang, L,&Chu, TG.(2006).Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions.physica d nonlinear phenomena.
MLA	Shi, H,et al."Virtual leader approach to coordinated control of multiple mobile agents with asymmetric interactions".physica d nonlinear phenomena (2006).