Design On Coordination Control Algorithm Of Euler-lagrange Multi-agent System

Recently, the distributed coordination problem for Multi-agent systems(MAS) has attracts more and more researchers’ attentions, Thus formed a new research field.The study in this field involves many other fields, example, development of sensor, communication technologies, and space technology. Compared with the solo systems, MAS coordinate to complete a certain common task by information sharing and communicating via networks,and features in its versatility,high effectiveness and low costs. Recently, the study on the coordination control of MAS mainly focuses on the linear systems whose dynamics are described by the first order or high order integrators.In fact, the nonlinear Euler-Lagrange equations are more suitable to describe the intrinsic characteristics of a class of mechanical systems. Thera are unfavorable factors such as time delay and swieching topology in system dynamics, and these problem are inevitable, so the solution of these prolbems, it is very necessary.In this paper we focus on the solution of time delay and swithing topology in system. The main content of this paper include:Firstly, Distributed coordination control laws are developed for multi-agent, which allows for communication time delay. And we distributed consensus control laws are developed for multi-agent of time delay. At last, we did the simulation research for control laws.Secondly, Focus on the communication topology of multi-agent system, and discribe distributed tracking control laws for multi-agent where the communication topology is stracking. The tracking control theory for the lyapunov theory are employed to show the stability of the system.Finally, hybrid control law is introduced, and introduces the application prospect of hybrid control law, a hybrid control law for a single control law is improved. According to the Lagrange theorem and Barbalat theorem, we proved that the system can realize tracking control. At last, we did the simulation research for control laws, we can know hybrid control law has faster convergence time.