Position convergence of informed agents in flocking problem with general linear dynamic agents
- Author(s): Sahar Yazdani 1 and Mohammad Haeri 2
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View affiliations
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Affiliations:
1:
Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran;
2: Advanced Control Systems Laboratory, Electrical Engineering Department, Sharif University of Technology, Tehran 11155-4363, Iran
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Affiliations:
1:
Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran;
- Source:
Volume 9, Issue 3,
05 February 2015,
p.
392 – 398
DOI: 10.1049/iet-cta.2014.0478 , Print ISSN 1751-8644, Online ISSN 1751-8652
© The Institution of Engineering and Technology
Received
29/04/2014,
Accepted
31/08/2014,
Revised
19/08/2014,
Published
27/01/2015
In most existing works on the flocking problem, results were obtained for the case where a double integrator dynamic is used to describe motion of agents and virtual leader. These results, however, may not be generalised to agents with general linear dynamic. In this study, it is shown that in the flocking of agents with a linear dynamic, the velocity convergence of agents does not generally lead to the position convergence of informed agents and the position convergence is possible only for a specified group of linear dynamics. In this study, a control protocol is proposed to flock agents with specified linear dynamics and guarantee the velocity convergence of all agents as well as average position convergence of informed agents to those of the virtual leader.
Inspec keywords: multi-agent systems; convergence
Other keywords: velocity convergence; position convergence; flocking problem; informed agents; control protocol; virtual leader; general linear dynamic agents; double integrator dynamic
Subjects: Artificial intelligence (theory)
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