Flocking motion control of flock in directed networks
基于有向网络的智能群体群集运动控制

Flock with double integrator dynamics to achieve flocking motion formation in directed networks is studied in this paper. A class of decentralized control laws for a flock of mobile agents is proposed. The interaction and/or communication relationship between agents is modeled by directed graph. In fixed network topology, the topology of control interconnection is fixed and time invariant. The stability analysis is achieved by using classical LaSalle's invariant principle and the analytical techniques of algebraic graph theory, which results in: i) global alignment of their velocity vectors, ii) convergence of their speeds to a common speed, iii) collisions between interconnected agents avoidance, and iv) minimization of the potential function of flock. Theoretical analysis show that the weak connectedness of directed graph and a class of directed graphs, called balanced graphs, play a crucial role in stability analysis. Finally, a simulation example is given to validate the theoretical results.