期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 87, 期 12, 页码 2573-2582出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2014.935485
关键词
flocking; multiple groups; heterogeneous networks; multi-agent systems
资金
- NSFC [61020106005, 61375120, 61304160]
- 973 Program [2012CB821203]
- Fundamental Research Funds for the Central Universities [JB140406]
In this paper, we consider the flocking problem of multi-agent systems with multiple groups. First, some algorithms using local information are designed to divide the agents into any pre-assigned number of groups in fixed and switching heterogeneous networks, respectively. Based on algebraic graph theory and Barbalat's lemma, convergence criteria are established to ensure velocity alignment and cohesion of each subgroup as well as collision avoidance between any agents in the whole group. Second, an algorithm for homogeneous networks is studied. Simulation examples are finally presented to verify the effectiveness of our theoretical results.
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