Formation Control Of Heterogeneous Multi-agent Systems With Time-delay

Formation control is one of the most important problems in the cooperative control of multi-agent systems.The core of it is to design a distributed controller so that multiple agents can form and maintain the desired formation in the process of movement,and at the same time adapt to environmental constraints.The research on this problem is not only helpful to reveal the internal law of similar group behavior in nature,but also can provide theoretical support for practical engineering applications such as multi-robot systems.Therefore,it has important scientific research and practical significance.This paper studies the formation control of heterogeneous multi-agent systems with time delay or packets dropout.The main contents include:1.Formation control of heterogeneous multi-agent systems with time-varying delay is studied.The system is composed of a first-order virtual leader and multiple second-order followers.Its fixed communication topology has a directed spanning tree with the leader as the root,and the communication among agents has the feature of time-varying delay.Aiming at this problem,we design a distributed adaptive control protocol,and its gain is on the basis of fuzzy adaptive control law.Under this condition,the upper bound of the time-varying delay which makes the system stable is obtained and this also enables all second-order followers to form and maintain the desired formation,and to follow the first-order virtual leader to move.What' more,the control protocol has certain advantages in convergence time and formation accuracy.Simulation examples show the effectiveness of the proposed method.2.Formation control for heterogeneous and general linear multi-agent system with input delay is studied.The system is composed of a leader and multiple followers and agents have the feature of input delay.Its fixed communication topology has a directed spanning tree with the leader as the root.For this reason,a distributed state feedback controller and a distributed observer are designed for each follower,and the stability of the system is proved.The results show that each follower can estimate the leader's state according to the distributed observer and update its own state in the light of-the state feedback controller.In this way,the followers can finally form and maintain the desired formation and track the leader's movement.Simulation examples show the effectiveness of the proposed method.3.Formation control of second-order homogeneous/heterogeneous discrete time multi-agent systems with both time-delay and packets dropout is studied.The homogeneous multi-agent systems consisting of a second-order leader and multiple second-order followers and the heterogeneous multi-agent systems consisting of a second-order leader and multiple first-order followers are discussed respectively.In the two systems,the communications among agents have time-delay and packets dropout,and the communication topology has a directed spanning tree with leader as the root.By merging the time-delay and packets dropout into a virtual delay,two different kinds of distributed control protocol are designed for the two systems respectively,and sufficient conditions are given for the realization of the desired formation of the two systems when time-delay and packets dropout exist simultaneously.Simulation examples show the effectiveness of the proposed method.