OlfatiSaber R.Flocking for multiagent dynamic systems:algorithms and theory［J］.IEEE Transactions on Automatic Control，2006，51(3):401/420.
[2]
Petter O，Fiorelli E，Leonard N E.Cooperative control of mobile sensor networks:adaptive gradient climbing in distributed environment［J］.IEEE Transactions on Automatic Control，2004，49(8):1292/1302.
[3]
Lu J H，Chen G R，Yu X H.Modelling，analysis and control of multiagent systems:a brief overview［C］//IEEE International Symposium on Circuits and Systems (ISCAS).Piscataway:IEEE，2011:2103/2106.
[4]
Cao Y C ， Yu W W， Ren W.An overview of recent progress in the study of distributed multiagent coordination［J］.IEEE Transactions on Industrial Informatics，2013，9(1):427/438.
Wen G H，Duan Z S，Su H S.A connectivitypreserving flocking algorithm for nonlinear multiagent systems with bounded potential function［C］//Control Conference (CCC).Piscataway:IEEE，2011:6018/6024.
[7]
Chang D E， Marsden J E.Gyroscopic forces and collision avoidance with convex obstacles［C］//Nonlinear Dynamics and Control.Berlin:Springer， 2003:145/160.
[8]
Xiao L， Boyd S.Fast linear iterations for distributed averaging［J］.Systems & Control Letters，2004，53(1):65/78.
