Attitude‐synchronization flocking of multiple 3‐dimensional nonholonomic agents without position measurement
Xiao‐Wen Zhao, Zhi‐Hong Guan, Bin Hu, Ruiquan Liao, Xianhe Zhang, Dingxin He · International Journal of Robust and Nonlinear Control · 2018
Summary This paper studies the attitude‐synchronization flocking problem for multiple 3‐dimensional nonholonomic agents. By analyzing the nonlinearity of the nonholonomic model and invoking the neighbor‐based design principle, we develop a distributed linear control protocol with the local information from each agent and its neighbors in proximity, especially, no position measurement is employed. Based on max‐min and Lyapunov stability theory, the proposed distributed control protocol can ensure the 3 flocking rules and attitude synchronization meanwhile, if collision avoidance and communication connectivity are guaranteed at the initial time. Additionally, numerical simulations are provided to verify the theoretical results.