Chin. Phys. Lett.  2009, Vol. 26 Issue (2): 020501    DOI: 10.1088/0256-307X/26/2/020501
GENERAL |
Flocking of Multi-agent Systems Following Virtual Leader with Time-Varying Velocity
YANG Ji-Chen, LU Qi-Shao
School of Science, Beijing University of Aeronautics and Astronautics, Beijing 100083
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YANG Ji-Chen, LU Qi-Shao 2009 Chin. Phys. Lett. 26 020501
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Abstract We consider the collective dynamics for a multi-agent system with a virtual leader. The velocity of the leader is time-varying and the interconnection topology of position network is switching based on the distances between agents. To track the leader in flocking, a neighbour-based local piecewise smooth controller is proposed for each agent. Using the control method, all agent velocities asymptotically approach the desired velocity while collisions can be avoided between agents. Some simulation results are provided to demonstrate the theoretical results.
Keywords: 05.45.-a      05.65.+b     
Received: 20 October 2008      Published: 20 January 2009
PACS:  05.45.-a (Nonlinear dynamics and chaos)  
  05.65.+b (Self-organized systems)  
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https://cpl.iphy.ac.cn/10.1088/0256-307X/26/2/020501       OR      https://cpl.iphy.ac.cn/Y2009/V26/I2/020501
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YANG Ji-Chen
LU Qi-Shao
[1] Couzin I, Krause J, Franks N and Levin S 2005 Nature 433 513
[2] Olfati-Saber R 2006 IEEE Trans. Autom. Control 51 401
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[4] Sun Y and Ruan J 2008 Chin. Phys. Lett. 253493
[5] Fax A and Murray R 2004 IEEE Trans. Autom. Control 49 1465
[6] Liu Y, Passino K and Polycarpou M 2003 IEEE Trans.Autom. Control 48 76
[7] Justh E and Krishnaprasad P 2002 Inst. Syst. Res. 38 49
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[9] Liu B, Chu T G, Wang L and Wang Z 2005 Chin. Phys.Lett. 22 254
[10] Shi H, Wang L and Chu T G 2006 Physica D 21351
[11] Hong Y G, Chen G R and Bushnell L 2007 Automatica 44 846
[12] Fang J and Liang Y 2005 Chin. Phys. Lett. 222719
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