Flocking motion in swarms with limited sensing radius and heterogeneous input constraints |
| |
| Authors: | Eber Jafet Ávila-Martínez Juan Gonzalo Barajas-Ramírez |
| |
| Institution: | 1. Departamento de Matemáticas, Universidad de Sonora. Blvd. Luis Encinas J and Rosales S/N, Col. Centro, Hermosillo, Sonora C.P. 83000, México;2. Facultad de Ingeniería, Universidad Panamericana, Josemaría Escrivá de Balaguer 101, Aguascalientes, Aguascalientes C.P. 20290, México;3. División de Control y Sistemas Dinámicos, Instituto Potosino de Investigación Científica y Tecnológica A.C., Camino a la Presa San José 2055 Col. Lomas 4A Sección, San Luis Potosi, SLP C.P. 78216, México;1. Department of Mathematics, Huizhou University, Guangdong 516007, China;2. School of Automation, Key Laboratory of Image Processing and Intelligent Control, Huazhong University of Science and Technology, Hubei 430074, China;1. School of Automation Science and Electrical Engineering,Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing, 100191, PR China;2. Key Laboratory of System Control and Information Processing Ministry of Education, Shanghai 200240, PR China;3. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, PR China |
| |
| Abstract: | This paper addresses the flocking motion problem for swarms of agents with two restrictions: limited communication/detection ranges and different input constraints. In this problem, the distance between pairs of agents determines if a communication/detection link exists among them, while each agent has a different control action bound. We use the notion of proximity graph to model communication/detection between agents and provide distributed controllers designed for leaderless and leader-followers flocking motion scenarios. Our proposed designs preserve the connectivity of the proximity graph while the control effort satisfies the bound of each particular agent. Unlike previous results, our protocols take advantage of the group’s input heterogeneity to use agents with a greater capacity to compensate for neighbors that are less capable of meeting the group’s requirements. Additionally, our designs are based only on local state errors and are robust to non-modeled edge failures. To illustrate the effectiveness of our proposal, we use numerical simulations of different flocking scenarios. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
