摘要
A novel distributed control scheme to generate stable flocking motion for a group of agents is proposed.In this control scheme,a molecular potential field model is applied as the potential field function because of its smoothness and unique shape.The approach of distributed receding horizon control is adopted to drive each agent to find its optimal control input to lower its potential at every step.Experimental results show that this proposed control scheme can ensure that all agents eventually converge to a stable flocking formation with a common velocity and the collisions can also be avoided at the same time.
作者
张云鹏
段海滨
张祥银
ZHANG Yun-Peng;DUAN Hai-Bin;ZHANG Xiang-Yin(State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Beijing 100191;Science and Technology on Aircraft Control Laboratory,Beihang University,Beijing 100191)
基金
Supported by the National Natural Science Foundation of China under Grant Nos 60975072 and 60604009
the Program for New Century Excellent Talents in University of China under Grant No NCET-10-0021
the Fundamental Research Funds for the Central Universities under Grant No YWF-10-01-A18
Open Fund of the State Key Laboratory of Virtual Reality Technology and Systems and Beijing NOVA Program Foundation under Grant No 2007A017.
