Open AccessAdaptive flocking of non‐linear multi‐agents systems with uncertain parameters
Author(s) -
Zhang Qing,
Li Ping,
Yang Zhengquan,
Chen Zengqiang
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0471
Subject(s) - flocking (texture) , control theory (sociology) , lyapunov stability , adaptive control , lyapunov function , multi agent system , computer science , robotics , stability theory , linear system , controller (irrigation) , control engineering , mathematics , artificial intelligence , engineering , robot , control (management) , nonlinear system , mathematical analysis , physics , quantum mechanics , materials science , agronomy , composite material , biology
Dynamic behaviour of multi‐agents raises many novel problems in control theory and robotics. In particular, the flocking problem for a group of mobile agents with uncertain parameters that can always achieve the desired coordination is a great new challenge problem. In this study, a adaptive flocking of non‐linear multi‐agents systems with uncertain parameters is investigated. Firstly, adaptive controller and an update law are designed for multi‐agents system with uncertain parameters. Second, based on the Lyapunov stability theory, it is proved that velocities of each agent come to be the same asymptotically, the collisions among agents can be avoided, and the uncertain parameters can also be identified. Finally, an illustrative example is given to verify the analytical results.