Flocking of multi-agents based on consensus protocol and pinning control

Author

He, Chenlong ; Feng, Zuren ; Ren, Zhigang

Author_Institution

State Key Lab. for Manuf. Syst., Xi´´an Jiaotong Univ., Xi´´an, China

fYear

2012

fDate

6-8 July 2012

Firstpage

1311

Lastpage

1316

Abstract

In this paper we propose three controllers for flocking of multi-agent system, which are basic linear controller, controller with actuator saturation and controller with time delay under the condition that the information exchanging topology of agents is connected and fixed. Each controller is composed of two components as consensus algorithms for making the entire agents converge to a common state and pinning control for guiding the agents to the desired moving direction. The stability of controllers is analyzed and the effectiveness of controllers is demonstrated by numerical simulation.

Keywords

actuators; delays; linear systems; multi-robot systems; numerical analysis; stability; actuator saturation; agent information exchanging topology; consensus protocol; controller stability; linear controller; multiagent flocking; numerical simulation; pinning control; state control; time delay; Actuators; Asymptotic stability; Convergence; Mathematical model; Multiagent systems; Stability analysis; Topology; Consensus; Flocking; Multi-agent system; Pinning Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Conference_Location

Beijing

Print_ISBN

978-1-4673-1397-1

Type

conf

DOI

10.1109/WCICA.2012.6358083

Filename

6358083