A Self-Organized Constrained Flocking Protocol Design Subject to Sensor Detection Failure

This paper proposes a constrained flocking algorithm to achieve the velocity consensus of multiple agents subject to exogenous disturbances. The Reynolds boids model is adapted to capture the dynamic behavior of agents in flocks. Both collision avoidance and disturbance attenuation are considered in the flocking problem. The collision avoidance is designed to prevent a crash with static obstacles and among agents. The disturbance attenuation is solved by optimizing the energy-to-energy system gain. Stability and system gain conditions are provided in the form of linear matrix inequalities by exploiting the dissipative property of an energy storage function. Illustrative examples of no-fly zone simulations are presented to verify the effectiveness of the suggested approach, as well as the control protocol's feasibility.