- 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
- Reviewed
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