Abstract
SummaryThis paper investigates the flocking problem for multiple unicycle systems in the presence of heterogenous input disturbances under directed topologies. Adaptive compensators are employed to eliminate the effect of disturbances. Based on the constructed potential functions, a class of novel distributed dynamic control algorithms are designed to implement flocking with connectivity preservation and collision avoidance with strongly connected directed graphs. It is noted that the proposed controller has released the constraints for connectivity preservation by only maintaining a minimum strongly connected directed graph in the initial topology. With the proposed methodology, the initial graph is allowed to contain those edges at boundary distances. Two illustrative examples are presented to demonstrate the effectiveness of the actuator involved in this paper.
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