The Impact Of Network Delay On Flocking Control Research

In recent years, due to the flocking algorithms widely used in multi-agent coordination control fields, such as large-scale robot systems and massive sensor networks, flocking algorithms get more and more attention of scholars. In this paper, flocking is the phenomenon in which lots of agents, using only limited environmental information and simple rules, organize into a coordinated motion.First, the paper systematically introduces the reach of flocking control in related fields. Then, a flocking control algorithm, which can maintain network connectivity, is extended to network environment and a flocking algorithm considering network delay is proposed. By microscopic analysis of the impact of network delay, the impact to flocking is summed up. Theoretical analysis shows that in case of small network delays, the flocking algorithm enables the system to eventually achieve coordinated movements.Second, based on the characteristics of the impact of network delay, this paper proposes an improvement flocking algorithm considering network delay. Theoretical analysis shows that the improved algorithm allows for greater network delay, ensuring the system can achieve coordinated movement.Then, two algorithms are simulated in different situation. On this basis, this paper presents the steady-state argument. It is illustrated by an example that the flocking system has a plurality of steady-state, and may vary between the different steady-state.Final, paper discusses and simulation the flocking algorithm considering network packet loss and the flocking algorithm in the situation that the speed of leader is variable.