Flocking Control under Virtual Leader-Follower with Link Failure

摘要：

　　For time-delay,noise and network congestion in the communication among agents,there are random communication link failures among agents.In the paper,we analyze the distributed flocking algorithms under virtual leader-follower model with random communication link failures.Under virtual leader-follower model,flocking algorithm can avoid diverging,but the performance of flocking algorithm with link failure often degrades.We analyze the impact brought by link failures on the flocking algorithm when part agents cant receive the information of the virtual leader,and simulations are done.Results show that the performance of distributed flocking algorithm depends on the probability of link failure.Smaller is the probability of link failures among multi-agents,better is the performance of flocking algorithms with link failure.

关键词： Flocking Multi-agents system Link failure Virtual leader-follower

作者: Wen Kai Wang Huan Xin Peng

作者单位: Department of Mechanical Engineering,Nanjing Institute of Industry Technology,1,Yang shan north road,Nanjing,China

会议类型: 国际会议

会议名称: the 2012 International Conference on Manufacturing Engineering and Automation (2012年制造工程与自动化国际会议(ICMEA2012))

会议地点: 广州

会议语种:英文

页码: 1617-1620

在线出版日期: 2012-11-16（万方平台首次上网日期，不代表论文的发表时间）