publication . Article . 2016

Design of Connectivity Preserving Flocking Using Control Lyapunov Function

Erfianto, Bayu; Bambang, Riyanto T.; Hindersah, Hilwadi; Muchtadi-Alamsyah, Intan;
Open Access English
  • Published: 01 Jan 2016 Journal: Journal of Robotics (issn: 1687-9600, eissn: 1687-9619, Copyright policy)
  • Publisher: Hindawi Limited
Abstract
This paper investigates cooperative flocking control design with connectivity preserving mechanism. During flocking, interagent distance is measured to determine communication topology of the flocks. Then, cooperative flocking motion is built based on cooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective. The flocking control input is then obtained by deriving cooperative artificial potential field using control Lyapunov function. As a result, we prove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always connected.
Subjects
arxiv: Computer Science::Multiagent SystemsNonlinear Sciences::Adaptation and Self-Organizing SystemsQuantitative Biology::Populations and EvolutionQuantitative Biology::OtherPhysics::Biological Physics
free text keywords: Mechanical engineering and machinery, TJ1-1570, Article Subject
20 references, page 1 of 2

Reynolds, C. W.. Flocks, herds and schools: a distributed behavioral model. ; 21: 25-34

Tanner, H. G., Jadbabaie, A., Pappas, G. J.. Stable flocking of mobile agents, part i: fixed topology. ; 2: 2010-2015

Tanner, H. G., Jadbabaie, A., Pappas, G. J.. Stable flocking of mobile agents part II: dynamic topology. ; 2: 2016-2021

Olfati-Saber, R.. Flocking for multi-agent dynamic systems: algorithms and theory. IEEE Transactions on Automatic Control . 2006; 51 (3): 401-420 [] [DOI]

Penders, J., Donkers, J.. Robot swarming applications. Liber Amicorum ter gelegenheid van de 60e verjaardag van Prof.dr. H. Jaap van den Herik . 2007: 227-234 [OpenAIRE]

Erfianto, B., Trilaksono, B. R., Hindersah, H.. Signal strength-based adjacency matrix and its eigenvalue in mobile robotic networks. : 247-252 [] [DOI]

Zavlanos, M., Pappas, G.. Flocking while preserving connectivity. : 2919-2924

Zavlanos, M. M., Tanner, H. G., Jadbabaie, A., Pappas, G. J.. Hybrid control for connectivity preserving flocking. IEEE Transactions on Automatic Control . 2009; 54 (12): 2869-2875 [] [DOI]

Mao, Y., Dou, L., Fang, H., Liu, H., Cao, H.. Connectivity-preserving flocking of multi-agent systems with application towheeled mobile robots. : 4494-4500 []

Fang, H., Wei, Y., Chen, J., Xin, B.. Flocking of second-order multiagent systems with connectivity preservation based on algebraic connectivity estimation. IEEE Transactions on Cybernetics . 2016 [DOI]

Ji, M., Egerstedt, M.. A graph-theoretic characterization of controllability for multi-agent systems. : 4588-4593 [] [DOI]

Ji, M., Egerstedt, M. B.. Distributed coordination control of multiagent systems while preserving connectedness. IEEE Transactions on Robotics . 2007; 23 (4): 693-703 [] [DOI]

Williams, R. K., Sukhatme, G. S.. Topology-constrained flocking in locally interacting mobile networks. : 2002-2007 [] [DOI]

Sharma, B. N., Vanualailai, J., Chand, U.. Flocking of multi-agents in constrained environments. European Journal of Pure and Applied Mathematics . 2009; 2 (3): 401-425 []

Godsil, C., Royle, G. F.. Algebraic Graph Theory . 2001; 207 [] [DOI]

20 references, page 1 of 2
Powered by OpenAIRE Open Research Graph
Any information missing or wrong?Report an Issue
publication . Article . 2016

Design of Connectivity Preserving Flocking Using Control Lyapunov Function

Erfianto, Bayu; Bambang, Riyanto T.; Hindersah, Hilwadi; Muchtadi-Alamsyah, Intan;