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Design of Connectivity Preserving Flocking Using Control Lyapunov Function
Joint Authors
Muchtadi-Alamsyah, Intan
Erfianto, Bayu
Bambang, Riyanto T.
Hindersah, Hilwadi
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-10-16
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper investigates cooperative flocking control design with connectivity preserving mechanism.
During flocking, interagent distance is measured to determine communication topology of the flocks.
Then, cooperative flocking motion is built based on cooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective.
The flocking control input is then obtained by deriving cooperative artificial potential field using control Lyapunov function.
As a result, we prove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always connected.
American Psychological Association (APA)
Erfianto, Bayu& Bambang, Riyanto T.& Hindersah, Hilwadi& Muchtadi-Alamsyah, Intan. 2016. Design of Connectivity Preserving Flocking Using Control Lyapunov Function. Journal of Robotics،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1110287
Modern Language Association (MLA)
Erfianto, Bayu…[et al.]. Design of Connectivity Preserving Flocking Using Control Lyapunov Function. Journal of Robotics No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1110287
American Medical Association (AMA)
Erfianto, Bayu& Bambang, Riyanto T.& Hindersah, Hilwadi& Muchtadi-Alamsyah, Intan. Design of Connectivity Preserving Flocking Using Control Lyapunov Function. Journal of Robotics. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1110287
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110287