Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,th...Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,the group leaders can attain the information of the global trajectory,while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge.Being to a distributed control method,the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory.Secondly,a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory.Moreover,the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders.In this way,on one hand,the agents of the group emerge a basic flocking behavior; on the other hand,the center of the group satisfies the constraints of global trajectory.Simulation results demonstrate the effectiveness of the proposed method.展开更多
In this paper,the flocking behavior of a Cucker-Smale model with a leader and noise is studied in a finite time.The authors present a Cucker-Smale system with two nonlinear controls for a complex network with stochast...In this paper,the flocking behavior of a Cucker-Smale model with a leader and noise is studied in a finite time.The authors present a Cucker-Smale system with two nonlinear controls for a complex network with stochastic synchronization in probability.Based on the finite-time stability theory of stochastic differential equations,the sufficient conditions for the flocking of stochastic systems in a finite time are obtained by using the Lyapunov function method.Finally,the numerical simulation of the particle system is carried out for the leader and noise,and the correctness of the results is verified.展开更多
基金Projects(61170160,61202338)supported by the National Natural Science Foundation of China
文摘Aiming at the group of autonomous agents consisting of multiple leader agents and multiple follower ones,a flocking behavior method with multiple leaders and a global trajectory was proposed.In this flocking method,the group leaders can attain the information of the global trajectory,while each follower can communicate with its neighbors and corresponding leader but does not have global knowledge.Being to a distributed control method,the proposed method firstly sets a movable imaginary point on the global trajectory to ensure that the center and average velocity of the leader agents satisfy the constraints of the global trajectory.Secondly,a two-stage strategy was proposed to make the whole group satisfy the constraints of the global trajectory.Moreover,the distance between the center of the group and the desired trajectory was analyzed in detail according to the number ratio of the followers to the leaders.In this way,on one hand,the agents of the group emerge a basic flocking behavior; on the other hand,the center of the group satisfies the constraints of global trajectory.Simulation results demonstrate the effectiveness of the proposed method.
基金supported by the Natural Science Foundation of Heilongjiang Province of China under Grant No.LH2023A007the National Natural Science Foundation of China under Grant No.11201095+2 种基金the Fundamental Research Funds for the Central Universities under Grant Nos.3072022TS2402 and 3072024GH2402the Postdoctoral Research Startup Foundation of Heilongjiang under Grant No.LBH-Q14044the Science Research Funds for Overseas Returned Chinese Scholars of Heilongjiang Province under Grant No.LC201502.
文摘In this paper,the flocking behavior of a Cucker-Smale model with a leader and noise is studied in a finite time.The authors present a Cucker-Smale system with two nonlinear controls for a complex network with stochastic synchronization in probability.Based on the finite-time stability theory of stochastic differential equations,the sufficient conditions for the flocking of stochastic systems in a finite time are obtained by using the Lyapunov function method.Finally,the numerical simulation of the particle system is carried out for the leader and noise,and the correctness of the results is verified.
