J4 ›› 2011, Vol. 46 ›› Issue (7): 70-77.

• Articles • Previous Articles     Next Articles

Flocking control protocol design based on Hamiltonian framework

WANG Qiang, WANG Yu-zhen*   

  1. School of Control Science and Engineering, Shandong University, Jinan 250061, Shandong, China
  • Received:2010-12-10 Online:2011-07-20 Published:2011-09-08


Several new results on the Flocking control protocol design are presented. Firstly, a Hamiltonian structure is provided for the systems by choosing a kind of suitable Hamiltonian functions. Secondly, based on the provided Hamiltonian structure, two kinds of Flocking control protocols are designed only by using local information of each agent. One protocol is with linear alignment rule and the other is with a kind of nonlinear alignment rule. It is shown that, following the two Flocking control protocols, all the agents’ velocities can converge to the same value, and stable Flocking behaviors can be guaranteed. Finally, result of simulation reveals that the Flocking protocols proposed in this paper work very well in the Flocking control of multi-agent systems of “boids” model.

Key words: multi-agent system; Hamiltonian structure; Flocking control protocol; algebraic graph theory

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