中国物理B ›› 2009, Vol. 18 ›› Issue (9): 3777-3782.doi: 10.1088/1674-1056/18/9/027

• GENERAL • 上一篇    下一篇

Collective coordination of multi-agent systems guided by multiple leaders

胡江平1, 袁海文2   

  1. (1)School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 610054, China; (2)School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
  • 收稿日期:2008-12-14 修回日期:2009-02-16 出版日期:2009-09-20 发布日期:2009-09-20

Collective coordination of multi-agent systems guided by multiple leaders

Hu Jiang-Ping(胡江平)a)† and Yuan Hai-Wen(袁海文)b)   

  1. a School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 610054, China; b School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
  • Received:2008-12-14 Revised:2009-02-16 Online:2009-09-20 Published:2009-09-20

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摘要： A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each mobile agent, the results show that all the agents will flock to the polytope region formed by the leaders.

Abstract: A neighbour-based coordination scheme is proposed for a multi-agent system with multiple leaders. Under assumptions of the connectivity of the interconnection topology and a simple first-order dynamics model for each mobile agent, the results show that all the agents will flock to the polytope region formed by the leaders.

Key words: multiple leaders, neighbour-based rule, ploytope

中图分类号:  (Servo and control equipment; robots)

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07.05.Dz (Control systems)