Research On Adaptive Flocking Of The Nonlinear Multi-agent

Three types of flocking control of multi-agent system are provided there.Firstly, the adaptive flocking of multi-agents with nonlinear inner-coupling functions is discussed. Secondly, the adaptive flocking of nonlinear multi-agents with time-varying delay is studied. Thirdly, the adaptive flocking of nonlinear multi-agents with unknown parameters is researched.The dynamic connected networks are used to describe the agents. And the control law is derived from using the artificial potential function with the condition that the dynamic networks are connected. Adaptive flocking of multi-agents with the above three characteristics is achieved based on Lyaponov’s theory of stability. The final result is tested for its feasibility employing computer simulation experiments.The innovative points of the research are as bellow:First, the system studied in the paper is second-order nonlinear system. In particular, the system also includes uncertain parameters. Therefore, the model becomes even more complex, and makes the scale more broader. So the result is more practical.Second, the time delay of the communication between agents is a positive value in previous study, so the time-varying delay in the flocking process make the result more practical.Third, the simple and practical design of the self-adaptive controller can identify uncertain parameters and achieve flocking, which provides a sufficient condition for a credible result.