Flocking of multi-agent systems with multiple second-order uncoupled linear dynamics and virtual leader

摘要

In this study, flocking of multi-agent systems with virtual leader and linear dynamics is investigated. It is assumed that the dynamics of agents in each dimension is represented by a general second-order linear model. The proposed control protocol is composed of two terms, one for feed backing each agent's states and one for cooperative control. At first, the flocking problem of multi-agent systems with identical agents is discussed and then the proposed protocol is generalised to flock heterogeneous multi-agent systems. Under the proposed algorithm, the velocity convergence of whole group to a velocity of virtual leader is guaranteed while the connectivity of network is preserved and collision among agents is avoided. Some simulation results are presented to verify the validity of the theoretical results.