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Distributed consensus has a widely use in biological world such as swarm,fish.Current research on distributed protocol didnt consider the case that the followers state are overlapped or close,which will cause collision between each other.Based on graph theory,matrix analysis and nonlinear analysis,we propose the static and adaptive distributed formation protocol,respectively.The necessary condition is also obtained by using Lyapunov method.Both the protocols can drive the position of the followers close to the convex hull formed by those of the leaders with collision avoidance.The proposed distributed protocols are also shown to achieve velocity matching.