Multi-agent Formation Control

With the development of scientific and the progress of technological, artificial intelligence research is developing rapidly.of multi-agent systems in this area is a new development direction. Multi-agent systems are a new development direction in this area. This paper studies controllability problems of multi-agent systems and some connections between controllability and consensus.1. This paper studies a discrete-time model of a class of multi-agent systems with single leader under directed interconnection topologies. Also an approach is proposed to transform a kind of uncontrollable system to a controllable one by assigning weights between agents.2. This paper studies controllability problems for continuous-time multi-agent systems under single-integrator dynamics and double-integrator dynamics, respectively. We receive a special topology, and under this topology, the controllability will change with the change of number of follower. Then we get the controllability of multi-agent systems under single-integrator dynamics being the same with the one under double-integrator dynamics.3. This paper studies some connections between controllability and consensus:If a multi-agent system with single leader is controllable, it solves a consensus problem; while this may not be the case if the number of leaders is more than one, and so on.4. An uncontrollable multi-agent system can be turned into a controllable one by selecting appropriate weights for communication links; while the consensus property is invariant under different weights. It will play an important part in the industrial control.5. Several examples are given to illustrate the ideas and the corresponding results.