The Research Of Multi-agent Systems Flocking Control And Antagonises Fomation Control Algorithm

In the past decades, Multi-agent systems(MAS) formation control problems, has gained attention for research scholars at home and abroad. In nature, a collective flocking or schooling behavior, engineering practices and military applications, formation control problems, has formed and emerging interdisciplinary research frontier. Formation control means allows a single agent composed of multi-agent systems, exchanging of information with its neighbors, to execute their own tasks.1. In this paper, we analyze the basic principles of artificial potential field(APF) methods, and discuss how to design some best artificial potential field functions. Then, we designed a new type of flocking control protocols, based on the artificial potential field methods. By constructing a type of energy functions for the multi-agent systems, we analysis the stability of flocking control algorithms we designed. At last, we simulated behaviors of the multi-agent systems, to verify the control algorithm, which based on the artificial potential field methods, is effective.2. In this paper, we present a new type of formation control algorithms, which based on the signed graphs theory. Cooperatively and antagonistic relationship find in the multi-agent systems. Then, we discussed the stability of the formation control algorithms for the multi-agent systems, when the system topology is undirected and directed signed graphs. At last, the simulation results show that the effectiveness of the formation control protocols for the multi-agent systems under the antagonistic environment, after we analysis the stability of the algorithm.In the end of this article, we show the conclusions of our study in this paper, and some issues to be resolved, worthy of our further discussions and hot issues of the multi-agent systems are prospected.