Volume 3 Number 1
January 2006
Article Contents
Hui Yu and Yong-Ji Wang. Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks. International Journal of Automation and Computing, vol. 3, no. 1, pp. 8-16, 2006 doi:  10.1007/s11633-006-0008-x
Cite as: Hui Yu and Yong-Ji Wang. Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks. International Journal of Automation and Computing, vol. 3, no. 1, pp. 8-16, 2006 doi:  10.1007/s11633-006-0008-x

Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks

  • Received: 2005-03-01
Fund Project:

This work was supported in part by the NSFC (No.60274020) and the NSFC International Collaborative Project (No.60340420431).

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Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks

Fund Project:

This work was supported in part by the NSFC (No.60274020) and the NSFC International Collaborative Project (No.60340420431).

Abstract: 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. Prom 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) agents 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.

Hui Yu and Yong-Ji Wang. Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks. International Journal of Automation and Computing, vol. 3, no. 1, pp. 8-16, 2006 doi:  10.1007/s11633-006-0008-x
Citation: Hui Yu and Yong-Ji Wang. Stable Flocking Motion of Mobile Agents Following a Leader in Fixed and Switching Networks. International Journal of Automation and Computing, vol. 3, no. 1, pp. 8-16, 2006 doi:  10.1007/s11633-006-0008-x
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