[1]WANG Dongmei,FANG Huajing.An adaptive flocking motion with a leader based on a feedback control scheme[J].CAAI Transactions on Intelligent Systems,2011,6(2):141-146.
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An adaptive flocking motion with a leader based on a feedback control scheme

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 6 Number of periods: 2011 2 Page number: 141-146 Column: 学术论文—人工智能基础 Public date: 2011-04-25
Title:
An adaptive flocking motion with a leader based on a feedback control scheme
Author(s):
WANG Dongmei1;  FANG Huajing2
1.College of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan 430081, China；
?2.Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074， China
Keywords:
multiAgent system;  flocking motion;  information feedback;  cooperative control
CLC:
TP13
DOI:
-
Abstract:
An adaptive flocking motion with information feedback was presentd for a leaderfollowing approach in a multiAgent system. This system may have large errors or the phenomenon of the follower falling behind. By introducing two information flows between the leader and its local neighbors, the leader can track a predefined trajectory, and at the same time, can modify its motion according to the static information of the neighboring followers. The Lyapunov approach was used to analyze the stability of the system and demonstrate that the strategy of information feedback can decrease the tracing errors and improve the robustness of the system for overcoming mechanical and network malfunctions. The results of the simulations were given to illustrate that information feedback can improve the performance of the system.
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