Research On Cooperative Control For Agent Group

Research and application of agent group have received increasing attention currently. The cooperative control for agent group is a hot issue. The application prospect for industry and military areas is more and more to be expected, such as disaster rescue, navigation in hostile environments, formation search and so forth. Agent group is composed of multiple dynamic agents by collaboration and interaction. The main objective is to perform difficult tasks by cooperation of multi-agent. Agent group is a kind of complex distributed system with the capacities of self-organization, self-learning and inference. In this paper, cooperative control for agent group is categorized into three kinds to studied, which are consensus control, abstacle avoidance and formation control. The main reseach content are list as follows:1. According to the lyapunov stability theory, A novel consensus tracking control algorithm is constructed by establishing potential function between agents. Consensus control and leader tracking control are realized among following agents. The validity of control algorithm is proved by lyapunov stability theory. On the basis of simulation results, all of the following agents’motion state can converge to the same. The position and velocities of following agents are equal to the leader. The multi-agent system can achieve stability and consensus.2. The research of abstacle avoidance is categorized into two cases, which are static abstacle avoidance and dynamic abstacle avoidance. Based on the potential function of obstacle, a new abstacle avoidance algorithm is presented by modified limit-cycle navigation method. The abstacle avoidance is achieved no matter the abstacle is static or dynamic. Compared with the traditional method, the proposed control strategy can realize abstacle avoidance only based on self-position and self-velocity with no need for objective position. In addition, the disadvantage of plunging into local minimum in traditional method is also overcomed.3. The issue of formation control is divided into two aspects, which are second-order multi-agent system without leader and second-order multi-agent system with leader. On the basis of potential function, follower formation control matrix and tracking formation control matrix are constructed. The former realizes formation control among following agents and the latter achieves formation control between leader and followers. Moreover, the novel algorithm settles the matter of existing dynamic obstacle in space. The algorithm is verified by means of lyapunov stability theory. According to the simulation results, the multi-agent system can form the anticipant formation, achieve obstacle avoidance and maintain consistency.4. To verify the feasibility and effectivity of the coorperative control methods, an experiment platform is constructed for agent group. Some experiments with respect to coorperative control are given. Under the effect of proposed method, agents can achieve obstacle avoidance and form the anticipated formation. The coorperative control for agent group can satisfy the requirements of ubiquitous network.