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- Publisher
- Wiley
- Copyright
- © 2022 John Wiley & Sons Ltd.
- ISSN
- 1049-8923
- eISSN
- 1099-1239
- DOI
- 10.1002/rnc.5823
- Publisher site
- See Article on Publisher Site
Abstract
This article investigates the flocking control problem of double‐integrator multi‐agent systems with a virtual leader subject to unknown external disturbances. A robust integral of sign of error (RISE) based control method is leveraged to design a distributed flocking controller with advantages of zero initial input value and continuous control input. By means of a new second‐order differential virtual potential field function, and the navigational feedback from a virtual leader, the proposed flocking controller assures agents of velocity consensus with the virtual leader and a quasi α‐lattice formation within a circular neighborhood centered on the virtual leader. Moreover, this algorithm guarantees collision avoidance and connectivity preservation of a proximity‐induced communication topology. Numerical simulations of the algorithm are provided to illustrate the effectiveness of the proposed flocking algorithm.
Journal
International Journal of Robust and Nonlinear Control – Wiley
Published: Jan 10, 2022
Keywords: distributed algorithms/control; flocking control; networked control systems; networks of autonomous agents