A Flocking Algorithm for Multi-agent Control with Multi-leader Following Strategy
In this paper, a flocking algorithm with multi-leader tracking for multi-agent systems is presented, and a strategy for leaders choosing their nearby agents is proposed. It is supposed that only a certain number of agents can be accepted by each leader as followers. Leaders choose these followers by the distances between them and the capacity of followers accepted by leaders. With the presented flocking algorithm, agents with the same leader can make a flocking during the tracking process, and the agents with different leaders separate from each other. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Finally, simulation results verify the effectiveness of the proposed algorithm.
Flocking Multi-leader Multi-agent Control.
Yang Li Gong-You Tang Xi-Xin Yang Pei-Dong Wang
College of Information Science and Engineering, Ocean University of China, Qingdao 266100
国际会议
The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)
太原
英文
3510-3514
2012-05-23（万方平台首次上网日期，不代表论文的发表时间）