Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

Housheng Su; Guanrong Chen; Xiaofan Wang; Zongli Lin

Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

Housheng Su
, Guanrong Chen
, Xiaofan Wang
, Zongli Lin

Department of Electrical Engineering

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

17 Citations (Scopus)

Abstract

We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

Original language	English
Title of host publication	Proceedings of the 29th Chinese Control Conference
Publisher	IEEE
Pages	5827-5832
ISBN (Print)	9787894631046
Publication status	Published - 2010
Event	29th Chinese Control Conference (CCC'10) - Beijing, China Duration: 29 Jul 2010 → 31 Jul 2010

Conference

Conference	29th Chinese Control Conference (CCC'10)
Place	China
City	Beijing
Period	29/07/10 → 31/07/10

Research Keywords

Adaptive flocking
Distributed control
Multiple agents
Nonlinear dynamics
Virtual leader

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title = "Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics",

abstract = "We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.",

keywords = "Adaptive flocking, Distributed control, Multiple agents, Nonlinear dynamics, Virtual leader",

author = "Housheng Su and Guanrong Chen and Xiaofan Wang and Zongli Lin",

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pages = "5827--5832",

booktitle = "Proceedings of the 29th Chinese Control Conference",

publisher = "IEEE",

address = "United States",

note = "29th Chinese Control Conference (CCC'10) ; Conference date: 29-07-2010 Through 31-07-2010",

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Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics. / Su, Housheng; Chen, Guanrong; Wang, Xiaofan et al.
Proceedings of the 29th Chinese Control Conference. IEEE, 2010. p. 5827-5832.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

AU - Su, Housheng

AU - Chen, Guanrong

AU - Wang, Xiaofan

AU - Lin, Zongli

PY - 2010

Y1 - 2010

N2 - We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

AB - We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

KW - Adaptive flocking

KW - Distributed control

KW - Multiple agents

KW - Nonlinear dynamics

KW - Virtual leader

UR - https://www.scopus.com/pages/publications/84988292034

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84988292034&origin=recordpage

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9787894631046

SP - 5827

EP - 5832

BT - Proceedings of the 29th Chinese Control Conference

PB - IEEE

T2 - 29th Chinese Control Conference (CCC'10)

Y2 - 29 July 2010 through 31 July 2010

ER -

Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

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Research Keywords

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