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
Edition1 PART 1
DOIs
StatePublished - Dec 1 2008
Event17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of
Duration: Jul 6 2008Jul 11 2008

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number1 PART 1
Volume17
ISSN (Print)1474-6670

Other

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

    Fingerprint

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.). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 17, No. 1 PART 1). https://doi.org/10.3182/20080706-5-KR-1001.0940