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Flocking of Multi-agent dynamical system in Lattice configuration
Wen Yang * #
East China University of Science and Technology, Department of Automation
*Correspondence author
#Submitted by
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Funding: none
Opened online:23 January 2014
Accepted by: none
Citation: Wen Yang.Flocking of Multi-agent dynamical system in Lattice configuration[OL]. [23 January 2014] http://en.paper.edu.cn/en_releasepaper/content/4575017
 
 
This paper considers a group of mobile agents moving in Euclidean space with switched network topology. We propose a feedback control algorithm that achieves velocity consensus with weighted directed switched velocity graph and stabilize all position neighboring agents inter-distance to a same desired value. Due to switched position/velocity graph introducing discontinuities in the agent local control laws, we employ nonsmooth analysis and differential inclusion to analyze the stability properties of the multi-agent system. The main results are that the position and velocity graph remaining connected/weakly connected are satisfied at all times, then alpha-Lattice can always be realized. Furthermore, if the initial energy of the system is less than a certain value depending on alpha-Lattice, then collision can be avoided.?????
Keywords:Multi-agent systems; Flocking; Nonsmooth analysis
 
 
 

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