Formation And Containment Control Of Multi-agent Systems Based On High-frequency Feedback Robust Control

The research of multi-agent system (MAS) aims for complex large-scale system modeling, and the main feature of MAS is to accomplish complex tasks through cooperation of more than one agents. This paper considers formation control and containment control of MAS cooperative control. The formation control problem can be divided into leader-following model, virtual structure, artificial potential field, and behavior-based. The structure of leader-following model, which is a typical kind of formation control method, is relatively simple due to the simplified cooperation type, while information feedback insufficiency and the failure of formation caused by leader loss followed. The focus of containment control study is the control algorithm design for followers of containment control. But the leaders especially the dynamic leaders in the system have limited effects. The complex systems are hard to control partly because that the majority of real systems are nonlinear with uncertain dynamics and most of the uncertain dynamics are unmodeled, thus an appropriate controller is necessary. The main innovative work can be summarized as below:In terms of MAS formation control problems with second-order bounded unknown nonlinear dynamics, this paper puts forward the fault tolerance and tracking for formation control algorithm based on the modified High-frequency Feedback Robust Control and High-gain Feedback Robust Control method, and the MAS formation control lows are designed with or without a leader. The formation errors of followers consider the feedback information of both the leader and neighbors, and the leader-following model MAS has the advantages of fault tolerance where the structure defects can be relieved. The modified high-frequency robust control structure with good system robustness can be used for solving the other coordination control problems of MAS. The unknown nonlinear dynamics study in this paper can be adapted to linear or nonlinear dynamics.In terms of MAS containment control problems with second-order bounded unknown nonlinear dynamics, a MAS containment control algorithm is proposed, which ensures that all the followers with undirected communication can realize the containment control on the basis of the modified High-frequency Feedback Robust Control method. In contrast to the SMC, this algorithm with good system robustness can weaken the chattering phenomenon of SMC. Meanwhile, the control performance can satisfy the requirements of real system by adjusting the control parameter, which gives this control algorithm more applicability and practical significance.In terms of the design of the whole agents of MAS containment control problems, the formation and obstacle avoidance control of leaders are designed, which refer to the formation control and path planning problems. Then this paper achieves the purpose of accomplishing complicated tasks by the confusion of leader and follower’s control, followed by system simulation. The design provides new ideas for studying the containment control problem and has meanings in solving more practical problems by containment control.