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摘要
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.
