Adaptive Flocking with a Virtual Leader of Multiple Agents Governed by Nonlinear Dynamics

作     者：SU Housheng 1,CHEN Guanrong 2,WANG Xiaofan3,LIN Zongli4 1.Department of Control Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,P.R.China2.Department of Electronic Engineering,City University of Hong Kong,Tat Chee Avenue,Kowloon,Hong Kong,P.R.China3.Department of Automation,Shanghai Jiao Tong University,Dongchuan Road 800,Shanghai 200240,P.R.China4.Charles L.Brown Department of Electrical and Computer Engineering,University of Virginia,P.O.Box 400473,Charlottesville,VA 22904-4743,USA 

会议名称：《第二十九届中国控制会议》

会议日期：2010年

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070104[理学-应用数学] 081101[工学-控制理论与控制工程] 0701[理学-数学] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程] 

基　　金：supported by the NSF of P.R. China under Grant Nos.60928008,60674045 and 60731160629 the Program of Shanghai Subject Chief Scientists(07XD14017) the NSFC-HKRGC Joint Research Scheme under Grant N City U 107/07 

关 键 词：Distributed control Adaptive flocking Nonlinear dynamics Multiple agents Virtual leader 

摘      要：We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity *** assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking *** the assumption that the initial network is connected,we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader,without requiring the knowledge of the agent *** resulting flocking algorithm works even for the case where only one agent is informed.