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Flocking with nonlinear systems based on distributed observers
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AI
DOI：10.1016/j.neucom.2024.129152.png)
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Abstract
En 中文
This paper investigates the output feedback-based flocking control problem for nonlinear dynamical systems (NDSs). To address this, distributed observers and consensus-based leader-following control algorithms are incorporated into each sensor in the network. By combining state estimation with flocking control algorithms, the observed state information of the NDS serves as the virtual leader for each sensor. To handle scenarios involving obstacles, we propose enclosing obstacles of various shapes within circles and developing a flocking control algorithm using artificial potential functions. Simulation results validate the effectiveness of the proposed algorithm.
Keywords:
Nonlinear observers
Flocking
Mobile sensor network
Output feedback