Study Of The Consensus Analysis And Measurement System For Hardware Platform Of Multi-Agent Car

In recent years, cooperative coordinated control appeals strong interest in the research of control fields with the rapid development of the distributed network and multi-agent system. Consensus problem is paid more and more attention by researchers coming from a variety of fields (including biology, physics, computer science and control engineering) as the base of the cooperative coordination between multi-agent systems. However, the hardware simulation of the consistency of the multi-agent system is scarce,this paper establishes the network hardware platform of the multi-agent based on the theory.First,the basic theory of the consensus of the multi-agent and graph theory basis and matrix theory ,the theoretical validating analysis tool of consensus theory, are described in this paper. Secondly, it realizes the optimization of the consensus algorithm by a simulation for consensus algorithms using matlab software and the analysis of the coupled algorithms for consensus effect. Finally, the hardware platform of multi-agent car network is formed, it designs the control module of multi-agent car with SPCE061A as its'control core . It controls the motion state of the car using the motor car cabin, power amplifiers and photoelectric encoder, tests the t velocity of the car and displays it on the display module. And then, it realizes the communication coupling between multi-agent cars through ZigBee wireless communication module, the consensus of the movement by setting the coupled algorithm and provides an effective experimental basis for validation of consensus theory.