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>Flocking in multi-agent systems with active virtual leader and time-varying delays coupling
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Flocking in multi-agent systems with active virtual leader and time-varying delays coupling
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机译：具有主动虚拟领导者和时变延迟耦合的多主体系统中的植绒
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摘要
In this paper, we presented a practical control protocol for flocking problems that is based only on the three classical assumptions for flocking systems. Some necessary and sufficient conditions that allow the agents to follow the leader when its acceleration is known and estimate the tracking errors when it is unknown are obtained for particular case. Some numerical simulations are also provided to show the validity of the theories.
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