Flocking control of multi-agent system with leader-follower architecture using consensus based estimated flocking center

Chandreyee Bhowmick, Laxmidhar Behera, Amit Shukla, Hamad Karki

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations

Abstract

This paper is concerned about flocking control of a group of mobile agents having leader-follower configuration where the number of leaders is lesser in number than followers. The leaders have the navigation information where the followers only know who the leaders are. Artificial potential function is used to design the distributed control law of the agents. The leaders move as per the tracking information while avoiding collision with other agents. The followers estimate the position of the flocking center and tend to move towards it while aligning velocities and avoiding collisions with neighboring agents. A novel algorithm for estimation of flocking center is introduced in this paper. This algorithm uses consensus concept that makes the followers reach an agreement regarding the flocking center position. The stability analysis of this algorithm shows that the estimation error is asymptotically ϵ-stable. The agents do not need to know their own positions in global coordinates. The leaders do not access any information from other agents while the followers communicate with its neighboring agents to estimate the flocking center and also to control their motion, the neighborhood being defined by the limited communication range. Simulation results show the effectiveness of the algorithm.

Original languageBritish English
Title of host publicationProceedings of the IECON 2016 - 42nd Annual Conference of the Industrial Electronics Society
PublisherIEEE Computer Society
Pages166-171
Number of pages6
ISBN (Electronic)9781509034741
DOIs
StatePublished - 21 Dec 2016
Event42nd Conference of the Industrial Electronics Society, IECON 2016 - Florence, Italy
Duration: 24 Oct 201627 Oct 2016

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Conference

Conference42nd Conference of the Industrial Electronics Society, IECON 2016
Country/TerritoryItaly
CityFlorence
Period24/10/1627/10/16

Keywords

  • Artificial potential function
  • Consensus
  • Flocking
  • Flocking center
  • Fuzzy control
  • Multi-agent system

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