Velocity-free compact rigid flock control with input saturations

Title: Velocity-free compact rigid flock control with input saturations
Creator: Fan, Ming-Can; Chen, Zhiyong; Zhang, Hai-Tao
Relation: 2013 25th Chinese Control and Decision Conference (CCDC 2013). Proceedings of 2013 25th Chinese Control and Decision Conference (CCDC 2013) (Guiyang, China 25-27 May, 2013) p. 316-321
Publisher Link: http://dx.doi.org/10.1109/CCDC.2013.6560941
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Resource Type: conference paper
Date: 2013
Description: It is often encountered in industrial multi-agent systems the unavailability of velocity sensors or the imprecise measurements of velocities. This work addresses the velocity-free flock control problem with input saturation. Using algebraic graph theory and Barbalat's Lemma, we prove that the algorithm guarantees the system to converge to a rigid flock behavior where all the agents in the group move with the same velocity. Moreover, the flock will converge to a prescribed tight formation which minimizes all agents' global potentials. Finally, the proposed flock control method are examined by numerical simulations to show its effectiveness.
Subject: flocking; input saturations; multi-agent systems; velocity-free
Identifier: http://hdl.handle.net/1959.13/1293484
Identifier: uon:18608
Identifier: ISBN:9781467355322
Language: eng
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