Formation Control And Obstacle Avoidance For Multi-agent System

In the last few years,the cooperative control of multi-agent systems has received considerable attention,since it poses significant theoretical and pract ical challenges.This provides our initial motivation to study the coordination control of multi-agent systems.Rather than to make a single monolithic(probably expensive and complicated)machine do the task,through coordination.The goal of obstacle avoidance and formation is to control agents to set the constraint condition,the multi-agnet systems move to a particular direction and maintain formation,and avoid obstacle control problem.In this paper, based on the existing control algorithm of formation avoidance, a finite-time controller is studied and generalized to obtain a new finite-time formation controller and a new obstacle avoidance controller. Firstly, the existing multi-agent formation algorithms are analyzed and summarized, and a new classification is made according to the common features of the existing algorithms. Compared to the more detailed analysis, some characteristics of this paper focuses on the research of multi-agent system formation control, such as the capability and the interaction topology of agents, they are indispensable part of multi-agent formation control characteristics.Secondly, it is the design of finite-time consensus controller and formation controller. Based on the finite-time consensus controller, the formation controller of multi-agent system is designed by using the Lyapunov function, the homogeneous with dilation, the stability theorem and the graph theory. Finally, it is the design of the obstacle avoidance controller. Based on the consensus problem, this paper uses a new distributed control model to complete the multi-agent system. Based on the consensus algorithm, the controller is divided into three parts: formation control term, velocity matching term and obstacle avoidance term.The finite-time controller has better robust performance and anti-interference ability compared with the general controller.The application of this kind of obstacle avoidance algorithm can guarantee that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. And, velocity matching term, it can be guaranteed that all of the agents will eventually reach the same speed.