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Applied Methods and Techniques for Mechatronic Systems pp 99–115Cite as

Flocking Behavior via Leader’s Backstepping on Nonholonomic Robot Group

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 452))

Abstract

This chapter aims to improve flocking control for a group of nonholonomic robots. It introduces a new flocking control algorithm with potential-based flocking as its foundation. By incorporating Leader’s Backstepping algorithm into the flocking strategy, an improved flocking performance is obtained, which leads the flock to the target point swiftly in a smoothed trajectory. Simulations in this chapter test and verify the effectiveness of the algorithm, in which key parameters’ influences on system performance are discussed.

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Acknowledgments

This work was supported by the National Natural Science Foundation in China (Grant No. 60705035, 61075087, 61203331, 61005065), Key Program of Hubei Province Natural Science Foundation of China (Grant No. 2010CDA005), Key Program of Open Foundation of Hubei Province Key Laboratory of Systems Science in Metallurgical Process of China (Grant No. Z201102), Open Foundation of Henan Provincial Open Laboratory for Control Engineering Key Disciplines (Grant No. KG2011-01), Scientific Research Plan Key Project of Hubei Provincial Department of Education (Grant No. D20131105). This is greatly acknowledged.

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Authors and Affiliations

  1. Engineering Research Center of Metallurgical Automation and Measurement Technology, Ministry of Education, Wuhan University of Science and Technology, Wuhan, 430081, China

    Lei Cheng, Jun Wang, Huaiyu Wu & Wenhao Zhang

  2. Henan Provincial Open Laboratory for Control Engineering Key Disciplines, Henan Polytechnic University, Jiaozuo, 454000, China

    Lei Cheng

  3. School of Automation, Huazhong University of Science and Technology, Wuhan, 430074, China

    Wenxia Xu & Pian Jin

  4. Faculty of Environment and Technology, University of the West of England, Bristol, BS161QY, UK

    Wenhao Zhang & Quanmin Zhu

Authors
  1. Lei Cheng
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  2. Jun Wang
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  3. Huaiyu Wu
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  4. Wenxia Xu
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  5. Wenhao Zhang
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  6. Pian Jin
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  7. Quanmin Zhu
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Corresponding author

Correspondence to Lei Cheng .

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Editors and Affiliations

  1. Huazhong University of Science and Technology, Wuhan, People's Republic of China

    Lei Liu

  2. University of the West of England, Bristol, United Kingdom

    Quanmin Zhu

  3. Wuhan University of Science and Technology, Wuhan, People's Republic of China

    Lei Cheng

  4. Huazhong University of Science and Technology, Wuhan, People's Republic of China

    Yongji Wang

  5. China University of Petroleum, Qingdao, People's Republic of China

    Dongya Zhao

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© 2014 Springer-Verlag Berlin Heidelberg

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Cheng, L. et al. (2014). Flocking Behavior via Leader’s Backstepping on Nonholonomic Robot Group. In: Liu, L., Zhu, Q., Cheng, L., Wang, Y., Zhao, D. (eds) Applied Methods and Techniques for Mechatronic Systems. Lecture Notes in Control and Information Sciences, vol 452. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36385-6_5

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  • DOI: https://doi.org/10.1007/978-3-642-36385-6_5

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-36384-9

  • Online ISBN: 978-3-642-36385-6

  • eBook Packages: EngineeringEngineering (R0)

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