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Journal of Robotics
Volume 2016 (2016), Article ID 8540761, 12 pages
Research Article

Design of Connectivity Preserving Flocking Using Control Lyapunov Function

1School of Computing, Telkom University, Bandung, Indonesia
2School of Electrical Engineering & Informatics, Institut Teknologi Bandung, Bandung, Indonesia
3Faculty of Mathematical Sciences, Institut Teknologi Bandung, Bandung, Indonesia

Received 19 June 2016; Revised 28 August 2016; Accepted 14 September 2016

Academic Editor: Shahram Payandeh

Copyright © 2016 Bayu Erfianto et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper investigates cooperative flocking control design with connectivity preserving mechanism. During flocking, interagent distance is measured to determine communication topology of the flocks. Then, cooperative flocking motion is built based on cooperative artificial potential field with connectivity preserving mechanism to achieve the common flocking objective. The flocking control input is then obtained by deriving cooperative artificial potential field using control Lyapunov function. As a result, we prove that our flocking protocol establishes group stabilization and the communication topology of multiagent flocking is always connected.