Flocking of Multi-Agent Systems with a Virtual Leader

2007 ◽  
Author(s):  
Hong Shi ◽  
Long Wang ◽  
Tianguang Chu ◽  
Feng Fu ◽  
Minjie Xu
Keyword(s):  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Virtual Leader

Fast Finite-Time Consensus Tracking of First-Order Multi-Agent Systems with a Virtual Leader

2014 ◽  
Vol 596 ◽  
pp. 552-559 ◽  
Author(s):  
Qiu Yun Xiao ◽  
Zhi Hai Wu ◽  
Li Peng
Keyword(s):  
Graph Theory ◽  
Finite Time ◽  
Function Method ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Consensus Tracking ◽  
Lyapunov Function Method ◽  
Multi Agent ◽  
Virtual Leader

This paper proposes a novel finite-time consensus tracking protocol for guaranteeing first-order multi-agent systems with a virtual leader to achieve the fast finite-time consensus tracking. The Lyapunov function method, algebra graph theory, homogeneity with dilation and some other techniques are employed to prove that first-order multi-agent systems with a virtual leader applying the proposed protocol can reach the finite-time consensus tracking. Furthermore, theoretical analysis and numerical simulations show that compared with the traditional finite-time consensus tracking protocols, the proposed protocol can accelerate the convergence speed of achieving the finite-time consensus tracking.

Distributed Observer Type Protocol for Flocking of Linear Second-Order Multi-Agent Systems Subject to External Disturbance

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Sahar Yazdani ◽  
Mohammad Haeri
Keyword(s):  
Collision Avoidance ◽  
Relative Velocity ◽  
External Disturbance ◽  
Second Order ◽  
Multi Agent Systems ◽  
State Information ◽  
Agent Systems ◽  
Full State ◽  
Multi Agent ◽  
Virtual Leader

This paper studies the leader–follower flocking of multi-agent systems for the linear second-order dynamics, subject to the external disturbance problem. It is assumed that the dynamic of the leader is Lipschitz-type. Also, the velocity is the output of the system, and full-state information is not available for feedback. A distributed full-order observer is employed to estimate every agent's states and external disturbance. A control protocol for each agent is designed based on the measurement of its output/velocity and relative velocity of its neighbors. Under the proposed protocol, the velocity convergence of whole agents to the velocity of the virtual leader is guaranteed as well as the connectivity of network and collision avoidance among agents are ensured. Finally, a simulation example is provided to show the effectiveness of the results.

A novel bipartite consensus tracking scheme for unknown nonlinear multi-agent systems: Theoretical analysis and applications

2021 ◽  
pp. 095965182110609
Author(s):  
Huarong Zhao ◽  
Li Peng ◽  
Peiliang Wu ◽  
Hongnian Yu
Keyword(s):  
Tracking Error ◽  
Data Driven ◽  
Small Range ◽  
Distributed Data ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Consensus Tracking ◽  
Multi Agent ◽  
Bipartite Consensus ◽  
Virtual Leader

This article proposes a novel distributed data-driven bipartite consensus tracking scheme for bipartite consensus tracking problems of multi-agent systems with bounded disturbances and coopetition networks. The proposed scheme only uses the input/output data of each agent without requiring the agents’ dynamics. We obtain the equivalent dynamic linearization data model for a controlled plant using the dynamic linearization technique based on the pseudo partial derivative. Considering the cooperative and competitive interactions among agents, the proposed method ensures that agents with adversarial relationships implement bipartite consensus tracking tasks even if only a subset of agents can access the information from the virtual leader. Moreover, the strict proof process of convergence properties reveals that the tracking error coverages to a small range around the origin. We also establish a set of software and hardware platform to demonstrate the effectiveness of the proposed distributed data-driven bipartite consensus tracking method.

Formation Control and Obstacle Avoidance for Multi-Agent Systems Based on Virtual Leader-Follower Strategy

2017 ◽  
Vol 16 (03) ◽  
pp. 865-880 ◽  
Author(s):  
Jing Yan ◽  
Xinping Guan ◽  
Xiaoyuan Luo ◽  
Cailian Chen
Keyword(s):  
Obstacle Avoidance ◽  
Formation Control ◽  
Rabbit Model ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Evasion Game ◽  
Multi Agent ◽  
Mobile Target ◽  
Virtual Leader ◽  
Avoidance Problem

This paper investigates the formation control and obstacle avoidance problem for multi-agent systems (MASs), which aims to coordinate the pursuer agents to capture a mobile target. The target appears at a location randomly and its movement obeys Reactive Rabbit Model. The pursuers and the mobile target can be modeled as a Pursuit-Evasion Game (PEG). During the movement, not all of the pursuer agents can obtain the real-time information of the target. Moreover, the obstacle avoidance makes the formation of pursuer agents a big challenge to encircle the mobile target. In order to tackle these two problems, the formation control and obstacle avoidance algorithm is presented in this paper based on a novel virtual leader-follower strategy and potential functions. The obstacle avoidance problem can then be solved by constructing a velocity potential. The numerical analysis and simulation demonstrate the effectiveness of the proposed algorithm.

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