期刊
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
卷 32, 期 1, 页码 286-303出版社
WILEY
DOI: 10.1002/rnc.5823
关键词
distributed algorithms; control; flocking control; networked control systems; networks of autonomous agents
This article presents a distributed flocking controller design using a robust integral of sign of error (RISE) based control method. By using a new second-order differential virtual potential field function and navigational feedback from a virtual leader, the controller ensures velocity consensus and a specific formation of multi-agent systems. Numerical simulations demonstrate the effectiveness of the algorithm.
This article investigates the flocking control problem of double-integrator multi-agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of zero initial input value and continuous control input. By means of a new second-order differential virtual potential field function, and the navigational feedback from a virtual leader, the proposed flocking controller assures agents of velocity consensus with the virtual leader and a quasi alpha-lattice formation within a circular neighborhood centered on the virtual leader. Moreover, this algorithm guarantees collision avoidance and connectivity preservation of a proximity-induced communication topology. Numerical simulations of the algorithm are provided to illustrate the effectiveness of the proposed flocking algorithm.
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