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Mathematical Problems in Engineering
Volume 2015, Article ID 901282, 8 pages
Research Article

Distance Constrained Based Adaptive Flocking Control for Multiagent Networks with Time Delay

1College of Science, Civil Aviation University of China, No. 2898, Jinbei Road, Tianjin 300300, China
2Department of Automation, Nankai University, Tianjin 300071, China

Received 6 June 2014; Revised 23 September 2014; Accepted 23 September 2014

Academic Editor: He Huang

Copyright © 2015 Qing Zhang 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.


The flocking control of multiagent system is a new type of decentralized control method, which has aroused great attention. The paper includes a detailed research in terms of distance constrained based adaptive flocking control for multiagent system with time delay. Firstly, the program on the adaptive flocking with time delay of multiagent is proposed. Secondly, a kind of adaptive controllers and updating laws are presented. According to the Lyapunov stability theory, it is proved that the distance between agents can be larger than a constant during the motion evolution. What is more, velocities of each agent come to the same asymptotically. Finally, the analytical results can be verified by a numerical example.