The Research On Control Design Consensus And Formation In Multi-agent Systems

With the rapid development of science and technology,intelligent robot,intelligent transportation,software agent has come into our real life.These are the multi-agent systems and multi-agent technology category.The research of multi-agent system is an important branch of artificial intelligence research,since the end of last century,this has been the hot topic of research.In scientific research and social production,the research of multi-agent system is mainly used to solve practical engineering problems of large complex.However,only by a single agent to solve this kind of large complex the problem is not enough.Moreover,due to the high cost and difficult to use physical study of the actual operation is not reality,the researchers usually according to the pra.ctical problem to establish the corresponding mathematical model to better study the multi-agent system.The researchers usually use simple and easy,practical agent instead of expensive,actual operational weak single system to realize the complex research task.It not only can greatly reduce the cost of research,but also can greatly improve the efficiency of study.As is known to all,the study of the large complex problem is based on the theory research of multi-agent,so the research on multi-agent system especially consistent control and formation control problem of multi-agent system have increasingly become the frontier problems in the study researchers from all walks of life.In this paper,by using the graph theory and matrix theory and Hurwitz stability theory to study the consistent control of multi-agent system and formation control prob-lem.Finally,by using the mathematical software MATLAB verify the validity of the theoretical results.The main contents of this paper are as follows:The first chapter introduce the background and the research status of consensus control of multi-agent system and formation control problem,and introduces the graph theory,matrix theory and the basic knowledge of Hurwitz stability theory and related lemma.The second chapter through design reasonable control input to study the third or-der multi-agent system without delay and with delay of control problem,respectively.We utilize the knowledge of graph theory,matrix theory and the complex coefficients of Hurwitz stability theory to solve the problem,and get a necessary and sufficient condi-tions of multi-agent systems to achieve consensus.Finally,the corresponding numerical simulation to verify the validity of the results of this chapter.The third chapter through design reasonable control input to study the formation control of second-order and third-order in multi-agent systems,respectively.We also study the formation of discrete-time second-order multi-agent systems with one sample period delay.In the continuous system,we utilize the knowledge of graph theory,matrix theory and apply bilinear transformation in discrete system to turn formation control problems into the consensus problem.Then,using the complex coefficient of Hurwitz stability theory to solve the problem,and necessary and sufficient conditions are achieved to achieve formation.Finally,a numerical simulation example is given to verify the feasibility of the results obtained in this chapter.In chapter four,we summary our works and make a prospect for the future work.