Optimally Persistent Formation Generation And Circle Formation Control For Multi-agent Syetems

Formation coordination control of multi-agent systems has been a hot issue in control and communication area recently, and many achievements have been made. For a formation system with minimally persistent topology, the communication complexity and communication energy cost could be greatly reduced, and the controllers for the formation are also simplified. Meanwhile, a minimally persisitent formation can easily form some systems with special shapes, which is aimed to fulfill some special tasks. On the basis of these facts, this dissertation studies the automatic generation of min-weighted persistent formation and pays attention to the generation of minimally persistent circle formation.Firstly, the dissertation analyses the automatic generation of one kind optimally persistent formation, whose fundermental circles of communication topology are triangulars or quadangles, and designs the controllers for the generated formation. For this kind of optimally rigid formation, its corresponding optimally persisitent formation can be generated by the vertex addition operation. The designed controller of each agent contains two neighbours’ state information at most. And considering the topology switching during the motion, a buffering function is designed, which can guarantee the stable outputs of the system.Secondly, the distributed algorithm for the generation of optimally persisitent formation containing any kind of fundermental circles is studied. For a random distributed formation system, the corresponding optimally rigid graph is generated firstly, then two operations of rigid reverse vertex addition and rigid reverse edge splitting are introduced to decompose the rigid graph. According to the reverse sequence of the two reverse operations, all undirected edges contained in the two operations are added unilateral directions, and the directed optimally graph is obtained. The simulation results proved the efficiency of the algorithm.Finally, based on the shape maintance property of minimally persisitent formation, the generation and control of a circle formation with minimally persistent topology is investigated. For the control and design of the circle formation, the key is to construct the minimally persistent topology. This dissertation proposes two numbering strategies, which are based on the relative angles and relative distances respectively. By the numbering strategies, each agent in the formation could build a unilateral communication with its neighbors, thus guaranteeing the generation of desired minimally persistent topology. Then, controllers of all agent are designed according to the topology, and finally the formation achieves a circle formation.