Circle Formation Control And Surrounding Control For Multi-agent Systems

With the rapid development of science and technology,the research of multi-agent systems will face more complex issues,formation control as an important part of multi-agent systems received continued attention by scholars.A lot of great research results continue to emerge and some of them have applied to the relevant fields.In this thesis,we focus on two typical problems in multi-agent system control field—circle formation control and circle surrounding control.First of all,for a first-order multi-agent systems,we propose each agent's distributed control law under the premise of stability of the system.Further,in order to reduce the frequency of updates of the controller and reduce the waste of communication resources.We add event-trigger in multi-agent formation control systems,proposing a distributed control law based on event-triggered.Finally,applying the idea of circle formation control to the surround control problems,two types of circle surrounding control problem has been studied.The main results are as follows:Firstly,the circle formation control with a leader has been studied.We get the potential function between the leader and the followers based on the theory of artificial potential field,which let all the agent to form a circle.Then design the potential function between the followers,we have got the distributed control law of each follower-agent while analyzed the stability of the system.Next,considering the energy of each agent are limited,circle formation control problem based on event-triggered has been studied.Combining with the controller design method above,proposing an event-triggered distributed control law and the sufficient condition of stability.Finally,Then a simulation example is given to illustrate the feasibility and validity of the results.Finally,applying the idea of circle formation control to the surround control problems,two types of circle surrounding control problem has been studied.On the one hand,when the target agent without dynamic,we given the rules of controller design,and also proof the stability of the system.On the other hand,when the target agent with dynamic,we get the distributed control laws by designing dynamic estimator.Then,by constructing the appropriate Lyapunov function to prove the stability of the system.Finally,Then a simulation example is given to illustrate the feasibility and validity of the results.