The Research Of Formation Control In Complex Multi-agent Systems

In recent years,multi-agent systems have received close attention from many researchers due to their wide application in the field of engineering control,such as unmanned systems,distributed control sensor networks,formation control of unmanned vehicles,satellite clusters,robotic swarms,collaborative behavior in swarms,humanmachine cooperation,etc.The consensus of multi-agent system is the basis for the study of multi-agent systems.As a branch of multi-agent cooperative control,formation control has become a research hotspot because of its wide application in practical systems.In the design and analysis of the control system,some nonlinear factors are introduced due to the influence of the system itself or external disturbs,which makes the multi-agent systems more complex and more challenging.At the same time,the high efficiency and low consumption of the system has always been a requirement of designer.In view of the above problems,this paper mainly studies the analysis and controller design problems of nonlinear multi-agent systems in formation control,and considers the influence on consensus of the multi-agent system in undirected and directed communication topology,the formation tracking in finite-time and dynamic formation.The main contents include as follows:In order to study the influence of the topology structure on the consensus of multiagent systems,we considered the nonlinear leader-follower multi-agent systems consensus problem,based on algebraic graph theory and Lyapunov stability theory,a finite-time consensus control protocol is designed,the system in the undirected graph and directed graph achieved consensus within the finite-time.In response to meet the demand for convergence time and measurement of external disturbance of multi-agent systems in formation tracking control,a finite-time formation control protocol is designed based on the methods of fast terminal sliding mode control and external expansion-state observer.The results show that all the following agents can reach the desired formation in finite-time,and all the following agents can track the leader's movement in finite-time under the control protocol.For the problem of multi-agent formation of static and dynamic problems,using the method of algebraic graph theory,the Lyapunov function methods and modern control theory,to analyze the stability of the system,and design the corresponding formation control protocol respectively,under the design of the control protocol,the systems achieve the multi-agent system of static and dynamic formation.