Cooperative Control Of Multi-agent Systems Based On Artifical Potentials And Virtual Leaders

Along with the development of computer technology, communication technologyand the network technology, research on multi-agent has become one of the keycontents of the discipline of artificial intelligencen, the research on multi-agentsystem control has also become a hot spot of the control research.This paperresearch the control problem based on artificial potential and virtual leaders. Thismain research contents are as follows:Firstly, analysis the traditional artificial potential, and then introduces the basictheory of graph and Lyapunov stability determination methods theory, laid thefoundation for the future research work.Secondly, analysis the artificial potential between agents, design a new artificialpotential which can meet the expectation distance between agents and anothernew artificial potential which can both meet the expectation distance and theexpected azimuth between agents. Design the corresponding controller accordingto the new artificial potential, and design experimental simulation.And then, give the behavior-based and leader-follower method.and design thecontroller. And design the simulation experiments.Finally, put forward a new kind of control method based on artificial potentialandvirtual leaders, design the controller, and simulate the controller throughexperiments. Analysis the sumulation results of various control methods.