Title :
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
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;
Conference_Titel :
Control Conference (CCC), 2012 31st Chinese
Conference_Location :
Hefei
Print_ISBN :
978-1-4673-2581-3
