Flocking Control Of Multi-agent Systems With Central Leader

In recent years,there are many algorithms inspired by researches concerning fishes and birds.Those animals are in the same speed and don't bump each other or fall apart while they are flocking.Although,individuals never get all the partners' information(position and speed),thdy can finish a precise and complicated flocking moving only via information exchaging between the adjacent agents.Inspired by these flocking movings in the natural world,Reynolds proposed the Reynolds Model.Nowdays,the flocking control of multi-agent systems which extensively find applications is developing from the Reynolds Model.Currently,most of the researchers use the virtual leader to get the the folcking,where the virtual leader is the the reference path or the control aim.However,if some agetns disconnecte from the whole group,then they can not get the information of the virtual leader.In this case,how can the multi-agent systems be flocked? In this paper,we consider the disconnectivity of the whold group.The central leader is first defined,and some control methods based on the central leader are then proposed.The main works in this papers are as follows:(1)We first introducing the basic concepts and research methods of the the flocking of the multi-agent systems.Some research progress of the multi-agent systems are then introduced.(2)Then central leader is first defined.The folcking control algrithm based on the central leader is developed,and proof of the stability anlaysis of the controlled system are given for the stable control.(3)A central-leader-based flocing control algorithm with the periodic control is developed.The stablity analysis of the control system are given and some numerical experiments are shown the efficient of the proposed algorithm.