Research Of Formation Control Strategy Of Multi-agent System Based On Local Displacement Information

Agent is an intelligent entity,especially in information technology,artificial intelligence and computer science,which can be seen through the sensor to sense the environment,independent action,calculation system and realize some preset targets or tasks.The formation control of multi-agent system mean as the agents that in the system can make independent act,which based on some simple calculation and detection ability.Then the system make independent movement,finally form the expected formation and complete the assigned task while it maintains the stability of the formation.The core of the formation control is the research of the control algorithm that makes the mutual independent agents form the expected geometric formation and keep the stability of the formation.In this thesis,we mainly research the formation control of multi-agent system,mainly including two aspects:the formation forming and the formation keeping(trajectory tracking).The formation forming bases on the distributed control strategy,the formation forming of multi-agent system is researched.In this part,we use algebraic topology graph to express the communication structure of the multi-agent system,the agent in the system only need to get the position information of some adjacent agents,and on the basis of this we design the consensus control algorithm based on displacement information.Then the effectiveness of control law is verified by Lyapunov stability analysis and Matlab simulation.After the multi-agent system formed the formation,we consider the problem of formation keeping of the whole system.In this part,based on the leader-follower method,aims at keeping the stability of the formation while the system move according to the predetermined trajectory.During the researching,every two agents was regarded as the leader and follower in the system.They only need to get the relative position information of each other,and then design the control algorithm.Similarly,the effectiveness of control law is verified by Lyapunov stability analysis,Lasalle invariance principle and Matlab simulation.