Cart (Loading....) | Create Account
Close category search window
 

Coordination of a group of agents with a leader - part I: general case

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Shumei Mu ; Dept. of Mech. & Eng. Sci., Peking Univ., Beijing, China ; Tianguang Chu ; Long Wan

This paper studies coordinated control of a group of agents with a leader based on a coupled phase oscillator model. The leader is unaffected by the other agent members while each member is influenced by the leader and the other members with the same coupling strengths. By using coupled oscillators theory, it is shown that the group dynamics depends on the motion of the leader and the coupling strengths among all agents. Two types of collective motions occur generally, depending on different ranges of the coupling strengths. One is that all the member agents would move in the same direction while the other is that all the member agents move in a way such that the centroid of the group approaches a fixed position. In each case, all the member agents eventually move in the same manner if the directions of the motion are neglected. We also present the analytical results for two special cases of weak and strong couplings. Numerical simulations are worked out to demonstrate the theoretical analysis. The results suggest potential approaches to control a group motion by steering the motion of the leader and adjusting appropriate coupling patterns. This is of practical interest in applications of multiagent systems.

Published in:

American Control Conference, 2005. Proceedings of the 2005

Date of Conference:

8-10 June 2005

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.