This paper considers flocking to the virtual leader in network of agents with double-integrator. A locally linear algorithm is employed which guarantees exponential flocking to the virtual leader. A lower bound for flocking rate is calculated which is independent of the initial conditions. Simulations are provided to validate the result and it is shown that the calculated rate is not over bound the actual convergence rate. The effect of coefficients of algorithm is investigated and it is shown that the similar results can be inferred from the calculated formula for the convergence rate.
On Exponential Flocking to the Virtual Leader in Network of Agents With Double-Integrator Dynamics
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received August 19, 2011; final manuscript received November 16, 2012; published online March 28, 2013. Assoc. Editor: Rama K. Yedavalli.
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Tavafoghi Jahromi, H., and Haeri, M. (March 28, 2013). "On Exponential Flocking to the Virtual Leader in Network of Agents With Double-Integrator Dynamics." ASME. J. Dyn. Sys., Meas., Control. May 2013; 135(3): 034504. https://doi.org/10.1115/1.4023242
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