Distributed Cohesion Control for Leader-follower Flocking

This paper presents a leader-follower flocking system which is consisted of a group of mobile agents with kinematic model. A "position consensus" algorithm is applied to enable the agents to estimate the flocking central position via neighbor-to-neighbor communication. By using the flocking center position, a cohesion controller is developed to enable the mobile agents to move close with each others. To avoid collision, a separation function is designed and fuzzy logic is used to keep this function smooth. The flocking stability is analyzed with LaSalle\´s invariance principle. Simulations of flocking with 200 agents are given. The flocking system is evaluated through different performances.