NDLI: Flocking control protocol design for a class of multi-agent systems based on hamiltonian framework

Content Provider	IEEE Xplore Digital Library
Author	Wang Qiang Wang Yuzhen
Copyright Year	2010
Description	Author affiliation: School of Control Science and Engineering, Shandong University, Jinan 250061, China (Wang Qiang; Wang Yuzhen)
Abstract	This paper investigates the flocking control protocol design problem for multi-agent systems of “boids” model with fixed topology, and presents several new results on the control design via Hamiltonian function method. Firstly, a Hamiltonian structure is provided for the systems by choosing a kind of suitable Hamiltonian functions. Secondly, based on the Hamiltonian structure provided, two kinds of flocking control protocols are designed only by using local information of each agent. One protocol is with linear alignment rule and the other is with a kind of nonlinear alignment rule. It is shown that, under the two flocking control protocols, all the agents' velocities can converge to the same one, and stable flocking behaviors can be guaranteed. Finally, study of simulation reveals that the flocking protocols proposed in this paper work very well in the flocking control of multi-agent systems of “boids” model.
Starting Page	4554
Ending Page	4559
File Size	169751
Page Count	6
File Format	PDF
ISBN	9781424462636
e-ISBN	9787894631046
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-07-29
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Association of Aut
Subject Keyword	Reynolds' Rules Protocols Multiagent systems Laplace equations Symmetric matrices Flocking Control Protocol Multi-Agent System Hamiltonian Structure Control systems Eigenvalues and eigenfunctions Topology Algebraic Graph Theory
Content Type	Text
Resource Type	Article

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