Flocking of multi-agents with nonlinear inner-coupling functions
Flocking of multi-agents with nonlinear inner-coupling functions
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DOI：
10.1007/s11071-009-9593-x
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发表时间：
2010-05
影响因子：
5.6
通讯作者：
Zhengquan Yang;Qing Zhang;Zengqiang Chen
中科院分区：
文献类型：
--
作者：
Zhengquan Yang;Qing Zhang;Zengqiang Chen
本文研究了具有非线性内耦合函数的多智能体群集问题。首先，我们提出了一组控制律，当多个智能体没有领导者时，控制律对每个智能体的作用依赖于状态信息的函数。我们证明了所有的代理速度变得渐近相同，并确保避免代理之间的碰撞。然后，我们提出了一组控制律时，多智能体与一个虚拟的领导者，控制律的作用于每个智能体依赖于功能的状态信息和外部信号。有了控制律，所有的代理人都可以跟随虚拟领导者;相邻代理人之间的碰撞自由得到了保证。
In this paper, we consider flocking of multi-agents with nonlinear inner-coupling functions. First, we propose a set of control laws when multi-agents without leader, and the control law acting on each agent relies on functions of the state information. We prove all agent velocities become asymptotically the same and avoidance of collisions between the agents is ensured. Then we present a set of control laws when multi-agents with a virtual leader, and the control law acting on each agent relies on functions of the state information and the external signal. With the control laws, all agents can follow the virtual leader; freedom from collisions between neighboring agents is ensured.