Distributed Cooperative Control of Multi-Agent Systems Using Velocity and Position-Based Neighbor Set

This study addresses the challenges of limited adaptability in conventional distributed control strategies for multi-agent systems operating in dynamic environments. We propose a novel velocity vector-based cooperative control framework with self-organizing topology to enhance real-time responsiveness and robustness. The core methodology establishes dynamic communication topology through quantitative velocity similarity analysis among neighboring agents, enabling autonomous network reconfiguration. A distributed consensus control law is systematically designed using relative velocity vectors, with stability analysis of flocking being provided. Experimental simulations demonstrate that our method effectively enhances the flexibility and robustness of the flocking control.