Distributed Coadaptive Control for Flocking of Swarm in Nonlinear Environment
In this paper, a distributed coadaptive control algorithm inspired by behaviors of biology is presented for flocking of swarm agents system with dynamic topology in the nonlinear environment. And the nonlinear environment is described by a given potential function which is assumed to have finite bounded slopes. We prove that this controller can enable all the agents to converge to a surperball in finite time, all swarm members converge to a common velocity only by means of the local information, the finish time of flocking can be estimated and the spacing between every two different individuals is around a constant with time changing. Simulation results are proposed to verify the controller.
Chengfeng Li Yantao Tian Mao Yang
School of Communication Engineering of Jilin University,Changchun,130025 China. School of Communication Engineering of Jilin University,Key Laboratory of Bionics Engineering of Min
国际会议
哈尔滨
英文
549-554
2010-01-08（万方平台首次上网日期，不代表论文的发表时间）