We present a multi-agent control method that addresses flocking in discrete time. The method is decentralized, that is, each agent's controller relies on local sensing to determine the relative positions and velocities of nearby agents. Each agent has the discrete-time double-integrator dynamics obtained by sampling the continuous-time double integrator and applying a zero-order hold on the control input. We demonstrate with analysis and simulations that agents using the discrete-time flocking method converge to a set of flocking formations.
|Title of host publication||2017 American Control Conference, ACC 2017|
|Number of pages||6|
|State||Published - Jun 29 2017|
|Event||2017 American Control Conference, ACC 2017 - Seattle, United States|
Duration: May 24 2017 → May 26 2017
|Name||Proceedings of the American Control Conference|
|Conference||2017 American Control Conference, ACC 2017|
|Period||5/24/17 → 5/26/17|
Bibliographical noteFunding Information:
This work is supported in part by the National Science Foundation (OIA-1539070) and the National Aeronautics and Space Administration (NNX10AL96) through the NASA Kentucky Space Grant.
© 2017 American Automatic Control Council (AACC).
ASJC Scopus subject areas
- Electrical and Electronic Engineering