Flocking of multi-agents based on consensus protocol and pinning control

In this paper we propose three controllers for flocking of multi-agent system, which are basic linear controller, controller with actuator saturation and controller with time delay under the condition that the information exchanging topology of agents is connected and fixed. Each controller is composed of two components as consensus algorithms for making the entire agents converge to a common state and pinning control for guiding the agents to the desired moving direction. The stability of controllers is analyzed and the effectiveness of controllers is demonstrated by numerical simulation.