Study On Formation Coordination Control Algorithms Of Second-order Multi-agent Systems

In this dissertation, the formation coordination control issue of second-order multi-agentsystems is addressed. Three kinds of different consensus protocols are introduced, which can resultin diversities. The study will focus on the time-delay in systems. The main contents are as follows:Firstly, some necessary preliminaries are provided and some related models for the systems areintroduced, where the preliminaries are some about graph theory which can illustrate theinformation exchange topology with multi-agent. One-order multi-agent systems and second-ordermulti-agent systems are described, respectively, which is ready for the study on controls.Secondly, second-order consensus protocols are studied. Three kinds of different consensusprotocols are introduced, which can result in diversities. The first protocol is to direct the positionand velocity of agents to achieve consensus. The second protocol is to direct each agent to agree ontheir a prior unknown fixed formation centre, which has a constant position and zero velocity. Thethird protocol is to direct each agent to move from their initial locations to pre-defined destinations,at the same time, the velocity of the agents asymptotically converges to zero. Simulations are givento verify the effectiveness of the proposed approach.Finally, based on the study of the third consensus protocols, a control algorithm withheterogeneous communication delays and self-delays for each agent is proposed, which will resultin the same. Suppose there is a static directed interconnected graph with a directed spanning tree,based on the frequency-domain analysis and matrix theory, distributed conditions are proved for theformation control of the system. Simulation results illustrate the correctness of the results.