Size Switching In Multi-Agent Formation Control With Time-Delay

In the recent years, the coordination control of Multi-agent systems have been received the widespread attention in the fields of military and civilian. Because it can perform complex huge project, and accomplish the task that a single agent can’t finish. The size switching in formation control is one kind of the coordination control of Multi-agent, so it also becomes the research focus of the scholars.The design of the zoom control in Multi-agent formation with time delay is studied in this paper. Firstly, both the background knowledge of Multi-agent formation and the research status of the formation scaling are introduced. Secondly, the robot is used as the research object, and the kinematics equation of the robot are described. According to the first-order dynamic characteristics of the kinematics equation, the method that defines potential energy function has designed the control law of formation scaling. Then, the analysis shows the time delay has a certain impact on the formation scaling, and results in instability of the whole system and even volatilization, So it is necessary to design the zoom control at constant delay and time-varying delay. Lyapunov-Razumikhin Theorem and LMI method were used to prove the stability of the system. Finally, a linear function analyzes the formation scaling, thus achieves the dynamic zoom control. MATLAB demonstrates the effectiveness of the control method at the constant delay and time-varying delay under the dynamic scaling.