Distributed flocking with biconnected topology for multi-agent systems

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Abstract
This paper studies the fault-tolerant cooperative control problem of agent groups in the context of multi-agent flocking tasks with second order linear dynamics. A distributed flocking algorithm with biconnected topology is proposed which is composed of two parts: motion strategy of biconnectivity and fault-tolerant flocking algorithm with bounded control input. The proposed algorithm handles the movement and reconfiguration of the flock, while maintaining the desired shape. It is proved that the proposed control algorithm can not only achieve the resultant biconnected network which is able to tolerate temporary node failures, but also guarantee the stable flocking motion. Several simulations are presented to demonstrate the efficiency of the theoretical results.

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