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Mathematical Problems in Engineering
Volume 2017, Article ID 6856295, 6 pages
Research Article

Impulsive Flocking of Dynamical Multiagent Systems with External Disturbances

School of Information and Electrical Engineering, Ludong University, Yantai 264025, China

Correspondence should be addressed to Hong-Yong Yang; ten.haey@gnayyh

Received 21 April 2016; Accepted 26 December 2016; Published 19 January 2017

Academic Editor: Mohammad D. Aliyu

Copyright © 2017 Fujun Han 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.


Flocking motion of multiagent systems is influenced by various external disturbances in complex environment. By applying disturbance observer, flocking of multiagent systems with exogenous disturbances is studied. Based on the robust features of impulsive control, a distributed impulsive control protocol is presented with disturbance observer, and flocking motion of multiagent systems is analyzed. Moreover, a sufficient condition is obtained to ensure the flocking motion of multiagent systems following a leader. Finally, simulation results show the validity of the theoretical conclusion.