FLOCKING OF MULTI-AGENTS FOLLOWING A LEADER WITH ADAPTIVE PROTOCOL IN A NOISY ENVIRONMENT

被引：26

作者：

Li, Shukai

Liu, Xinzhi ^{[1
]}

Tang, Wansheng ^{[2
]}

Zhang, Jianxiong ^{[2
]}

机构：

[1] Univ Waterloo, Dept Appl Math, Waterloo, ON N2L 3G1, Canada

[2] Tianjin Univ, Inst Syst Engn, Tianjin 300072, Peoples R China

来源：

ASIAN JOURNAL OF CONTROL | 2014年 / 16卷 / 06期

基金：

中国国家自然科学基金; 加拿大自然科学与工程研究理事会;

关键词：

Multi-agent systems; flocking; communication delays; noise environment; adaptive protocols; SWITCHING TOPOLOGY; CONSENSUS; SYSTEMS; SYNCHRONIZATION; ALGORITHMS; NETWORKS; MOTION;

D O I：

10.1002/asjc.799

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper investigates the flocking problem of multi-agents following a leader with communication delays in a noisy environment. Based on potential fields and the LaSalle-type theorem for stochastic differential delay equations, by introducing the adaptive protocol compensating for the desired velocity, a new neighbor-based flocking protocol is proposed such that all the agents move with a virtual leader's velocity almost surely, and avoidance of collision between the agents is ensured. A numerical example is given to illustrate the effectiveness of the proposed methods.

引用

页码：1771 / 1778

页数：8

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