Second-order Flocking Control with Communication Noise

In the paper, we analyze the distributed flocking algorithms with communication noise. Under the Boid model, flocking algorithm with communication noise is easy to diverge. In order to improve the convergence performance of flocking algorithms with communication noise, and overcome the impact brought by communication noise on flocking algorithm, in the paper, a distributed flocking algorithm based on SO-DCT distributed consensus algorithm is proposed. The second-order flocking algorithm under the Boid model is analyzed, and simulations are done. Results show that the second-order distributed flocking algorithm can reach cohesion, and its convergence performance is better than that of the first-order distributed flocking algorithm, moreover, the impact of communication noise on the second-order flocking algorithm is smaller.