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This paper investigates distributed flocking problem where the information exchange amongagents is modeled by the communication topology changing with time.Previous research on thisproblem establishes group stabilization by assuming that the dynamic topology is connected all thetime,which however cannot be guaranteed by most proposed distributed control laws.In this paper,adistributed algorithm to distill a necessary subgraph of the initial communication topology is presented.This subgraph covers all the vertices of the communication topology and is proved to be connected aslong as the initial communication topology is connected.A distributed control law is then designed topursue the flocking motion while preserving all the edges in this subgraph.In this way,connectivity canbe preserved all the time,and flocking problem is thus solved only provided the initial communicationtopology of multi-agent system is connected.
This paper investigates distributed flocking problem where the information topology among groups is stabilized by the communication topology changing with time.Previous research on thisproblem set group stabilized by assuming that the dynamic topology is connected all thetime, which however can not be guaranteed by most proposed distributed control laws . In this paper, adistributed algorithm to distill a necessary subgraph of the initial communication topology is presented. This subgraph covers all the vertices of the communication topology and is proved to be connected as long as the initial communication topology is connected. A distributed control law is is then designed topursue the flocking motion while preserving all the edges in this subgraph. In this way, connectivity canbe preserved all the time, and flocking problem is solved only provided the initial communicationtopology of multi-agent system is connected.