Flocking of Multiple Dynamic Agents

In this paper, we consider the coordinated motion of multiple dynamic agents via nearest neighbor rules based on fixed and switching topologies, respectively. We design the control law which consists of two parts: a potential field force that makes the agents attract to each other and at the same time avoid collision in the group, and an alignment force that makes all dynamic agents' headings and speeds to converge respectively to common values. This paper is studied based on the Lyapunov theory and basic graph theory. The effect of disturbances on the collective dynamics of the group.