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Distributed Cohesion Control for Leader-follower Flocking

This paper presents a leader-follower flocking system which is consisted of a group of mobile agents with kinematic model. A "position consensus" algorithm is applied to enable the agents to estimate the flocking central position via neighbor-to-neighbor communication. By using the flocking center position, a cohesion controller is developed to enable the mobile agents to move close with each others. To avoid collision, a separation function is designed and fuzzy logic is used to keep this function smooth. The flocking stability is analyzed with LaSalle's invariance principle. Simulations of flocking with 200 agents are given. The flocking system is evaluated through different performances.