A flexible formation control algorithm based on virtual leader

Author

Jian-liang, Peng ; Tong-wei, Dai ; Qi-sheng, Fang ; Fei-hu, Zhao

Author_Institution

Air Navig. & Weapon Control Dept., Air Force 2nd Flight Coll., Xi´´an, China

fYear

2012

fDate

25-27 July 2012

Firstpage

6411

Lastpage

6414

Abstract

The flexible formation control of agent swarm is a hot problem. Multiple agents with double integrator dynamics to achieve flexible formation control is studied. A new flexible formation control algorithm is proposed based on artificial potential field and virtual leader. The stability is analyzed based on LaSalle invariant set principle. The simulation results show that it no needs velocity matching item. But it can realized flexible formation. It also can track fixed or maneuvering virtual leader.

Keywords

invariance; multi-agent systems; position control; stability; LaSalle invariant set principle-based stability analysis; agent swarm; artificial potential field; double integrator dynamics; fixed virtual leader tracking; maneuvering virtual leader tracking; multiple agents; velocity matching item; virtual leader-based flexible formation control algorithm; Conferences; Educational institutions; Electronic mail; Heuristic algorithms; Lead; Navigation; Weapons; Agent; Attraction/repulsion; Flexible Formation Control; Potential Field; Virtual Leader;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2012 31st Chinese

Conference_Location

Hefei

ISSN

1934-1768

Print_ISBN

978-1-4673-2581-3

Type

conf

Filename

6391063