Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Volume17
Edition1 PART 1
DOIs
StatePublished - 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Other

Other17th World Congress, International Federation of Automatic Control, IFAC
CountryKorea, Republic of
CitySeoul
Period7/6/087/11/08

Fingerprint

Multi agent systems
Robots
Controllers
Collision avoidance
Closed loop systems
Mobile robots
Trajectories
Topology

Keywords

  • Decentralisation
  • Intelligent control of large scale systems
  • Large scale complex systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Li, Q., & Jiang, Z-P. (2008). Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC (1 PART 1 ed., Vol. 17) https://doi.org/10.3182/20080706-5-KR-1001.0940

Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots. / Li, Qin; Jiang, Zhong-Ping.

Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Li, Q & Jiang, Z-P 2008, Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.0940
Li Q, Jiang Z-P. Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots. In Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 ed. Vol. 17. 2008 https://doi.org/10.3182/20080706-5-KR-1001.0940
Li, Qin ; Jiang, Zhong-Ping. / Flocking of decentralized multi-agent systems with application to nonholonomic multi-robots. Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. Vol. 17 1 PART 1. ed. 2008.
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