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Connectivity Preserving Flocking without Velocity Measurement
Author(s) -
Wang Lin,
Wang Xiaofan,
Hu Xiaoming
Publication year - 2013
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.542
Subject(s) - flocking (texture) , control theory (sociology) , bounded function , position (finance) , computer science , controller (irrigation) , feedback controller , distributed computing , control engineering , topology (electrical circuits) , engineering , mathematics , control (management) , physics , artificial intelligence , mathematical analysis , electrical engineering , finance , quantum mechanics , agronomy , economics , biology
In this paper, we address the design of a decentralized controller for connectivity‐preserving flocking, where each agent only can access to the position information of the agents within its sensing zone. An output vector, based on the position information alone, is constructed to replace the role of velocity, and some bounded attractive and repulsive forces are integrated together to design the controller. We prove that the controller not only synchronizes all agents in a stable formation, but also enables collision avoidance and connectivity preserving all of the time, when the initial condition meets certain requirements. Moreover, a leader‐follower method is used to guide the group to a desired direction, where the followers can sense the leader only if the distance between them is less than the communication radius.