Abstract:

This paper considers the flocking problem of a group of autonomous agents moving in Euclidean space with a virtual leader. We investigate the dynamic properties of the group for the case where the state of the virtual leader may be time-varying and the topology of the neighbouring relations between agents is dynamic. To track such a leader, we introduce a set of switching control laws that enable the entire group to generate the desired stable flocking motion. The control law acting on each agent relies on the state information of its neighbouring agents and the external reference signal (or 'virtual leader'). Then we prove that, if the acceleration of the virtual leader is known, then each agent can follow the virtual leader, and the convergence rate of the centre of mass (CoM) can be estimated; if the acceleration is unknown, then the velocities of all agents asymptotically approach the velocity of the CoM, thus the flocking motion can be obtained. However, in this case, the final velocity of the group may not be equal to the desired velocity. Numerical simulations are worked out to illustrate our theoretical results.

Keywords: collective dynamic behaviour; flocking; multiagent systems; swarm intelligence; virtual leader

Document Type: Research article

DOI: 10.1080/00207170801983091

Affiliations: 1: Department of Mathematics and Physics, Beijing Institute of Petrochemical Technology, Beijing, China,Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China 2: Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China