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Adaptive flocking control of nonlinear multi-agent systems with directed switching topologies and saturation constraints

Atrianfar, H ; Sharif University of Technology | 2013

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  1. Type of Document: Article
  2. DOI: 10.1016/j.jfranklin.2013.03.002
  3. Publisher: 2013
  4. Abstract:
  5. In this paper, we propose and analyze flocking algorithms in a network of second-order agents with bounded control inputs and nonlinear intrinsic dynamics. We consider a general switching network topology, for velocity information exchange, rather than undirected or fixed directed network topology with a directed spanning tree. The proposed adaptive controller architecture applies a leader-following strategy in which the pinning scheme is defined based on the interaction topology. Finally, some examples are presented to illustrate the theoretical results
  6. Keywords:
  7. Adaptive controllers ; Adaptive flocking controls ; Directed network topology ; Directed spanning trees ; Nonlinear multi-agent systems ; Saturation constraints ; Second-order agents ; Velocity information ; Electric network topology ; Multi agent systems ; Network architecture ; Topology
  8. Source: Journal of the Franklin Institute ; Volume 350, Issue 6 , August , 2013 , Pages 1545-1561 ; 00160032 (ISSN)
  9. URL: http://www.sciencedirect.com/science/article/pii/S0016003213001026