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Flocking for Leader-Following Multi-Agent Systems with Time-Varying Delay
Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing, China
Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing, China
College of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China
School of Automation, China University of Geosciences, Wuhan, China
- 1 Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing, China
- 2 Research Center of System Theory and Application, Chongqing University of Posts and Telecommunications, Chongqing, China
- 3 College of Automation, Chongqing University of Posts and Telecommunications, Chongqing, China
- 4 School of Automation, China University of Geosciences, Wuhan, China
Intelligent Control and Automation·Volume 07 (2016)·Pages 9–15·Published 4 January 2016·DOI10.4236/ica.2016.71002
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Abstract
This paper investigates the flocking problem in multi-agent system with time-varying delay and a virtual leader. Each agent here is subject to nonlinear dynamics. For the system, the corresponding algorithm with time-varying delay is proposed. Under the assumption that the initial network is connected, it is proved that the distance between agents is in the desired distance. The theoretical deduction shows that the stable flocking motion is achieved.
KeywordsFlockingTime-Varying DelayNonlinear DynamicsMulti-Agent SystemVirtual Leader
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