Research On Flocking Problem Of Heterogeneous Nonlinear Multi-agent Systems

The main purpose of the study of heterogeneous Multi-Agent Systems(MAS)is to solve complex problems beyond the capabilities of all individual agents through a team of multiple agents.This paper uses graph theory to describe the communication between agents,and design the controller through artificial potential function to control the distance between agents to prevent collision.The Lyapunov function is used to prove the stability of the system by using the Lyapunov function stability and the LaSalle invariant principle,so that the multi-agent systems can reach the flocking state.This paper mainly studies the three aspects of adaptive flocking problem of heterogeneous multi-agent systems.Firstly,the problem of adaptive flocking of heterogeneous multi-agent systems with nonlinear dynamics is studied.The heterogeneous agent is composed of two different types of second order nonlinear dynamical systems.In the virtual leader model,the controller is designed for two kinds of second order dynamical systems respectively.The control algorithm is deduced and the convergence and stability of the algorithm is proved.Secondly,the adaptive flocking control problem of heterogeneous multi-agent systems with time-varying delay is researched.In the applications of real life,the limited transmission distance between agents or communication congestion can lead to communication delay.So the motion equation of the agent needs time-delay dynamical system model to describe.In the case of time-varying delay,heterogeneous multi-agent implementation flocking.Thirdly,this paper studies the adaptive flocking control problem of heterogeneous multi-agent systems with unknown parameters.The adaptive distribution control law with unknown parameters is designed.Based on the stability of Lyapunov function,the sufficient condition for flocking inequality is obtained.This condition ensures that all followers track the status of the leader and achieve consistency of state and parameters.Finally,the effectiveness of the method is verified.