This paper investigates cooperative flocking control design with connectivity preserving mechanism. During flocking, interagent\ndistance is measured to determine communication topology of the flocks. Then, cooperative flocking motion is built based on\ncooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective.The flocking\ncontrol input is then obtained by deriving cooperative artificial potential field using control Lyapunov function. As a result, we\nprove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always\nconnected.
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