Adaptive Flocking of Multi-agent Systems with Locally Lipschitz Nonlinearity

摘要：

This paper investigates adaptive flocking of multi-agent systems (MASs) with a virtual leader. All agents and the virtual leader share the same intrinsic nonlinear dynamics, which satisfies a locally Lipschitz condition and depends on both position and velocity information of the agent itself. Under the assumption that the initial network is connected, an approach to preserving the connectivity of the network is proposed. Based on the Lyapunov stability theory, an adaptive flocking control law is derived to make the MASs track the virtual leader without collision. Finally, a numerical example is presented to illustrate the effectiveness of the theoretical results.

关键词： Adaptive flocking Multi-agent systems Locally Lipschitz condition Nonlinearity Virtual leader

作者: Ningzi Zhang Housheng Su Michael Z. Q. Chen Xiaofan Wang

作者单位: Department of Control Science and Engineering, Image Processing and Intelligent Control Key Laborato Department of Mechanical Engineering, The University of Hong Kong, Hong Kong, P. R. China Department of Automation, Shanghai Jiao Tong University, Shanghai 200240, P. R. China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 6351-6356

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）