Adaptive Flocking Control with a Minority of Informed Agents
Ke Lou, Baotong Cui, Qian Ye · Asian Journal of Control · 2013
Abstract In this paper, we address the flocking problem of multiple dynamic mobile agents with a virtual leader in a dynamic proximity network. To avoid fragmentation, we propose a novel flocking algorithm that consists of both an adaptive controller for followers and a feedback controller for the virtual leader. Based on our algorithm, all agents in the group can form a network, maintain connectivity, and track the virtual leader, even when only a minority of agents have access to the information of the virtual leader. Finally, several convincing simulation results are provided that demonstrate 2‐Dflocking of a group of agents using the proposed algorithm.