Cooperative And Phase Configuration Control Design Of Circle Formation For Multi-agent Systems With Limited Sensing Ability

Multi-agent systems have recently attracted a significant amount of research interest due to their advantages such as flexibility,scalability,robustness,and cost-effectiveness.Advances in control,computation and communication provide the enabling technology for the construction of such systems.In this dissertation,we focus on the formation problem of multi-agent systems.Especially,the circle formation is the major research object in this paper,which will be studied in below subproblems:Transition control(includes moving and scaling),phase configuration,and limited sensing ability.The detail summary as below:1.Transition control of circle formation.The transition of circle includes moving,scaling and rotating.We mainly focus on the control strategy design of moving and scaling control.We first propose the moving control law with two different way,which are parallel(not rotating)and translation(rotating).Then considering three kinds of way,we study the scaling control based on linear velocity,angular velocity and radius,respectively.2.Custom phase configuration control.In order to improve the restriction of Uniform distribution,a new circle formation control strategy is designed to arrange phase distribution as user-defined.Both control laws for single-integrator modeled agents and unicycle modeled agents are all proved this result.Otherwise,we also present the phase location problem on a circle.3.Circle formation control with limited sensing ability.The final key point is to present the control strategy mentioned above could be used in a limited condition.An estimator for target location is referred to resolve this issue.Then the final circle formation control law is come out just based on bearing information only with custom phase distribution.Both single-integrator and unicycle modeled agents are proved as well.