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Distributed coordination for connectivity-preserving flocking without velocity measurement
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.ORCID iD: 0000-0003-0177-1993
2011 (English)In: ASCC - Asian Control Conf. - Final Program Proc., 2011, 788-793 p.Conference paper (Refereed)
Abstract [en]

In this paper, we address the design of decentralized controller for connectivity-preserving flocking without velocity measurement. An output vector based on neighbors' position information alone is constructed to replace the role of velocity, then some bounded attractive and repulsive forces are integrated together to design the controller. Under some initial conditions, we prove that the controller not only can synchronize all agents, but also can avoid collision as well as preserving connectivity among agents for all the time. Moreover, a leader-follower method is used to guide the group to a desired direction, where the neighboring relationship is totally determined by the distance.

Place, publisher, year, edition, pages
2011. 788-793 p.
, ASCC 2011 - 8th Asian Control Conference - Final Program and Proceedings
Keyword [en]
Decentralized controller, Distributed coordination, Initial conditions, Leader-follower, Output vectors, Position information, Repulsive forces, Controllers, Decentralized control, Velocimeters, Velocity measurement
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-151159ScopusID: 2-s2.0-80051957357ISBN: 9788995605646OAI: diva2:747719
8th Asian Control Conference, ASCC 2011, 15-18 May 2011, Kaohsiung,Taiwan

QC 20140917

Available from: 2014-09-17 Created: 2014-09-15 Last updated: 2014-09-17Bibliographically approved

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ReferencesLink to record
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