Flocking control of multi-agent systems with application to nonholonomic multi-robots

Qin Li, Z.P. Jiang

    Research output: Contribution to journalArticleAcademicpeer-review

    13 Citations (Scopus)
    44 Downloads (Pure)

    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, more generally, the moving 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 decentralized flocking controller for the case where the set of AAs is fixed. Some results on the velocity consensus, collision avoidance, group configuration and robustness are proposed. Further, we apply the proposed controller to the observer based flocking control of a team of nonholonomic mobile robots.
    Original languageEnglish
    Pages (from-to)84-100
    JournalKybernetika
    Volume45
    Issue number1
    Publication statusPublished - 2009

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