TY - GEN
T1 - Distributed flocking control and obstacle avoidance for multi-agent systems
AU - Liu, Huagang
AU - Fang, Hao
AU - Mao, Yutian
AU - Cao, Hu
AU - Jia, Rui
PY - 2010
Y1 - 2010
N2 - This paper deals with the distributed flocking control problem of multiple agents with the leader-follower structure. By using smooth time-varying feedback control approach and consensus theory, a set of distributed formation control laws is designed, which can achieve stable flocking motion of a system of multiple agents. Moreover, the potential functions with the function of both obstacle avoidance and collisions between the agents are also constructed. Finally, all the followers could arrive at the destination by following the leader while successfully negotiate the obstacles in the environment. Finally, simulation results verify the validity of the proposed control laws.
AB - This paper deals with the distributed flocking control problem of multiple agents with the leader-follower structure. By using smooth time-varying feedback control approach and consensus theory, a set of distributed formation control laws is designed, which can achieve stable flocking motion of a system of multiple agents. Moreover, the potential functions with the function of both obstacle avoidance and collisions between the agents are also constructed. Finally, all the followers could arrive at the destination by following the leader while successfully negotiate the obstacles in the environment. Finally, simulation results verify the validity of the proposed control laws.
UR - http://www.scopus.com/inward/record.url?scp=78650230426&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:78650230426
SN - 9787894631046
T3 - Proceedings of the 29th Chinese Control Conference, CCC'10
SP - 4536
EP - 4541
BT - Proceedings of the 29th Chinese Control Conference, CCC'10
T2 - 29th Chinese Control Conference, CCC'10
Y2 - 29 July 2010 through 31 July 2010
ER -