Adaptive flocking of non-linear multi-agents systems with uncertain parameters

作者：Zhang Qing^*; Li Ping; Yang Zhengquan; Chen Zengqiang

来源：IET Control Theory and Applications, 2015, 9(3): 351-357.

DOI：10.1049/iet-cta.2014.0471

• multi-agent systems
• Lyapunov methods
• mobile agents
• adaptive control
• adaptive flocking problem
• nonlinear multi-agent systems
• uncertain parameters
• mobile agents
• adaptive controller
• Lyapunov stability theory

Dynamic behaviour of multi-agents raises many novel problems in control theory and robotics. In particular, the flocking problem for a group of mobile agents with uncertain parameters that can always achieve the desired coordination is a great new challenge problem. In this study, a adaptive flocking of non-linear multi-agents systems with uncertain parameters is investigated. Firstly, adaptive controller and an update law are designed for multi-agents system with uncertain parameters. Second, based on the Lyapunov stability theory, it is proved that velocities of each agent come to be the same asymptotically, the collisions among agents can be avoided, and the uncertain parameters can also be identified. Finally, an illustrative example is given to verify the analytical results.

• 出版日期2015-2-5
• 单位南开大学; 中国民航大学