Conference Proceedings

Aggregation Stability of Multiple Agents with General Nonlinear Attraction and Repulsion Forces

Linglin Shu, Yufan Zheng, Haibin Shao, Weiyun Pan

2009 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-3 | IEEE | Published : 2009

Abstract

In this paper we consider the aggregation stability problem of a multi-agents system under network, among the agents there are nonlinear attactive/repulsive forces. Our work generalizes the results given by Gazi and Passino [1] and Chu, Wang and Chen [2], [3], [4] into a very general setting. It shows that the agents of multi-agents system in undirect communication network will asymptotically form a cohesive cluster with finite size if the nonlinear attraction and repulsion functions satisfy some very mild assumptions. We give several numerical simulations demonstrate that the collective behavior of system appear stable cohesion with finite size cohesive areas if the mild assumption is satis..

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