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On exponential flocking to the virtual leader in network of agents with double-integrator dynamics

Jahromi, H. T ; Sharif University of Technology | 2013

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  1. Type of Document: Article
  2. DOI: 10.1115/1.4023242
  3. Publisher: 2013
  4. Abstract:
  5. This paper considers flocking to the virtual leader in network of agents with double-integrator. A locally linear algorithm is employed which guarantees exponential flocking to the virtual leader. A lower bound for flocking rate is calculated which is independent of the initial conditions. Simulations are provided to validate the result and it is shown that the calculated rate is not over bound the actual convergence rate. The effect of coefficients of algorithm is investigated and it is shown that the similar results can be inferred from the calculated formula for the convergence rate. Copyright
  6. Keywords:
  7. Convergence rate ; Double-integrator dynamics ; Flocking ; Stability ; Convergence rates ; In networks ; Initial conditions ; Linear algorithms ; Lower bounds ; Virtual leader ; Convergence of numerical methods ; Engineering ; Mathematical models ; Algorithms
  8. Source: Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME ; Volume 135, Issue 3 , 2013 ; 00220434 (ISSN)
  9. URL: http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?articleid=1674717