Abstract
This paper investigates the Cucker-Smale flocking control problem of leader-follower multiagent systems in the presence of periodic intermittent communication, in which networked agents update the states by communicating with their neighbors during active periods and remain stable during dormancy periods. A distributed update algorithm that relies on the position error between agents is designed. Based on this algorithm, the problem of Cucker-Smale flocking with periodic intermittent communication is first transformed into a convergence problem of infinite products of nonnegative matrices. Then, this convergence problem is theoretically solved by using hybrid tools including nonnegative matrix analysis and graph theory. Finally, a sufficient condition, which relates to the weight function and the period length of intermittent communication is established. Moreover, numerical examples are presented to demonstrate the validity of the theoretical result.
Highlights
In recent decades, inspired by the collective behavior of many animals, cooperative control of multiagent systems has been widely studied in biology, physics, computer, control and other disciplines
Consensus is a hot issue in cooperative control of multiagent systems
Due to unreliable communication channels, physical equipment failure and other reasons, agents may only communicate with their neighbors at part time. Based on this objective fact, we consider a environment of periodic intermittent communication in this paper
Summary
In recent decades, inspired by the collective behavior of many animals, cooperative control of multiagent systems has been widely studied in biology, physics, computer, control and other disciplines. A large number of literatures have focused on consensus (e.g., see [1]–[11]) Flocking is another hot research topic of multiagent systems, which refers to selfpropelled particles, organizations and involuntary movements using only limited environmental information and simple state updating rules, such as bacterial flora in biological organisms, schooling of fishes, flying birds [12], [13]. It has to be mentioned that in the application of multiagent systems such as bird migration, mobile robot coordination, UAV formation flight, the role of a leader is very important to overcome the interference of environmental noise or improve work efficiency This objective fact leads researchers to conduct in-depth research and exploration on the flocking control of Cucker-Smale model with a dynamic leader. Shi et al examined the leader-follower flocking control of Cucker-Smale model with time-varying heterogeneous delays.
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