On Exponential Flocking to the Virtual Leader in Network of Agents With Double Integrator Dynamics

Abstract

This paper considers flocking to the virtual leader in network of agents with doubleintegrator. A locally linear algorithm is employed which guarantees exponential flocking to the virtual leader. A lower bound for flocking rate is calculated which is independent of the initial conditions. Simulations are provided to validate the result and it is shown that the calculated rate is not over bound the actual convergence rate. The effect of coefficients of algorithm is investigated and it is shown that the similar results can be inferred from the calculated formula for the convergence rate.