Flocking Control Of Hybrid Multi-Agents Based On Position Measurement

The flocking movement is a product of evolution in nature, and many living things in migration,foraging or avoiding predators attack would choose to form a group to do the flocking movement,For example, the flocking movement of flocks of birds and schools of fish are natural beautifullandscape. In recent years, flocking control problem on multi-agent movement has attracted wideattention and research. And it has a significant application in various fields including biology, socialbehavior, statistical physics and computer control.Recently, the main methods of flocking control consider both the agent’s position informationand speed information in the design of the algorithm. In this dissertation, by using only the positioninformation, we focus on hybrid multi-agents flocking control problem with differentcommunication radius. The main research and contributions are as follows:Firstly, we introduce and analyze the state of art of the research field, present the theory andsimulation analysis of Reynolds model and the artificial potential function based on hybridmulti-agents.Secondly, based on the agent position information and passive distributed control method, thehybrid multi-agent’s flocking control algorithm is addressed, and the stability of the system isanalyzed. The correctness of the algorithm is verified by computer simulations.Thirdly, the hybrid multi-agents flocking control algorithm with virtual leader is studied basedon the position information. Firstly, considering different communication radius for different agentsand using passive distributed control method, the hybrid multi-agent’s flocking control algorithmwith a virtual leader is designed based on position information, then the computer simulations aregiven to prove the correctness of the algorithm. Secondly, considering the information of virtualleader existing in different parts of the passive controller, we analyze the stability and convergenceperformance of the control system, and present the reference for choosing suitable control algorithmin practical engineering.