A Flexible Formation Control Algorithm based on Virtual Leader

被引：0

作者：

Peng Jian-liang ^{[1
]}

Dai Tong-wei ^{[2
]}

Fang Qi-sheng ^{[1
]}

Zhao Fei-hu ^{[1
]}

机构：

[1] Air Force 2nd Flight Coll, Air Nav & Weapon Control Dept, Xian 710306, Peoples R China

[2] Air Force Engn Univ, Xian 710051, Peoples R China

来源：

PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE | 2012年

关键词：

Agent; Flexible Formation Control; Virtual Leader; Potential Field; Attraction/repulsion; MULTIAGENT SYSTEMS; FLOCKING;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The flexible formation control of agent swarm is a hot problem. Multiple agents with double integrator dynamics to achieve flexible formation control is studied. A new flexible formation control algorithm is proposed based on artificial potential field and virtual leader. The stability is analyzed based on LaSalle invariant set principle. The simulation results show that it no needs velocity matching item. But it can realized flexible formation. It also can track fixed or maneuvering virtual leader.

引用

页码：6411 / 6414

页数：4

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