Fixed-time leader-following flocking and collision avoidance of multi-agent systems with unknown dynamics

2021 ◽  
pp. 014233122110052
Author(s):  
Tingruo Yan ◽  
Xu Xu ◽  
Zongying Li ◽  
Eric Li
Keyword(s):  
Collision Avoidance ◽  
Dimensional Space ◽  
Fixed Time ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Control Protocol ◽  
Leader Following ◽  
Multi Agent ◽  
Virtual Leader ◽  
Theoretical Results

The fixed-time flocking of multi-agent systems with a virtual leader is investigated in this paper. The motion dynamics of the agents are assumed to be unknown and only satisfy the boundedness, which does not need to be modelled by the Lipschitz condition. To achieve the flocking and collision avoidance for all agents in the fixed time, a control protocol in the high-dimensional space is developed by using the graph theory and the theoretical properties of differential equations. Moreover, the upper bound of the settling time only depending on the control protocol and the topology of network is estimated. Numerical examples are used to verify the theoretical results, and show that the proposed method provides an applicable method for the control of the nonlinear dynamic systems.

Adaptive leader-following formation control with collision avoidance for a class of second-order nonlinear multi-agent systems

2019 ◽  
Vol 350 ◽  
pp. 282-290 ◽  
Author(s):  
Quan Shi ◽  
Tieshan Li ◽  
Jingqi Li ◽  
C.L. Philip Chen ◽  
Yang Xiao ◽  
...  
Keyword(s):  
Collision Avoidance ◽  
Formation Control ◽  
Second Order ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent

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.

scholarly journals On Leader-Following Consensus in Multi-Agent Systems with Discrete Updates at Random Times

Entropy ◽  
2020 ◽  
Vol 22 (6) ◽  
pp. 650
Author(s):  
Ricardo Almeida ◽  
Ewa Girejko ◽  
Snezhana Hristova ◽  
Agnieszka Malinowska
Keyword(s):  
Continuous Time ◽  
Sufficient Conditions ◽  
Control Law ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Leader Following ◽  
Multi Agent ◽  
Agent Networks ◽  
Random Times ◽  
Theoretical Results

This paper studies the leader-following consensus problem in continuous-time multi-agent networks with communications/updates occurring only at random times. The time between two consecutive controller updates is exponentially distributed. Some sufficient conditions are derived to design the control law that ensures the leader-following consensus is asymptotically reached (in the sense of the expected value of a stochastic process). The numerical examples are worked out to demonstrate the effectiveness of our theoretical results.

Fixed-time consensus of first-order multi-agent systems over signed directed graphs

2021 ◽  
pp. 014233122110019
Author(s):  
Zhentao Li ◽  
Zhengxin Wang ◽  
Yuanzhen Feng
Keyword(s):  
Directed Graphs ◽  
Fixed Time ◽  
Control Parameters ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
First Order ◽  
Strongly Connected ◽  
Multi Agent ◽  
Theoretical Results

This paper studies the fixed-time consensus problems of first-order multi-agent systems over signed directed graphs. Fixed-time consensus protocols are designed for first-order multi-agent systems without/with disturbances and first-order nonlinear multi-agent systems with disturbances, respectively. With proposed protocols, it is proved that multi-agent systems with strongly connected topologies will achieve consensus in a fixed time if the control parameters satisfy certain conditions. Finally, simulation examples are provided to verify the effectiveness of the theoretical results.

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