Research On Scheduling And Formation Control Of Networked Multi-agents With Limited Communication

In recent years,with the rapid development and mutual penetration of computer communication technology,computer network technology and automatic control technology,multi-agent systems(MASs)appear.In MASs,each agent owns the capability of processing information and executing controls,and they just own constrained capabilities of sensor and communication.They do not obtain the global information of MASs,therefore they have to finish the given task by local information.This paper mainly focuses on the integrated design of scheduling and control for a class of resource-constrained multi-agent system and formation control with obstacle avoidance.First of all,the formation control problem of networked multi-agent systems(MASs)with communication constraints is investigated.Firstly,a novel event-triggered transmission strategy is proposed to ensure both communication performance and control performance of the system.Secondly,a leader-following formation control strategy is designed to transform the formation control problem into the stability problem of a closed-loop system with time-varying delay.Thirdly,an integrated design scheme is developed to achieve the parameters of the new event-triggered transmission strategy and the control protocol simultaneously by using Lyapunov-Krasovskii function and Linear Matrix Inequality(LMI)technique.Then,the distributed formation output regulation of heterogeneous linear multi-agent systems with different dimentions is investigated.The dynamical output feedback and dynamical state feedback regulators are proposed for the system with external disturbance and directed graph.For the two regulators,an H? criterion as a part of their sufficient conditions is designed with local informations.Moreover,the H? criterion is transmitted to finding a feasible solution to the set of LMIs.An algorithm to find a feasible solution to this problem is provided for the system using dynamical output feedback regulator.Finally,a formation output regulation region is designed to select the state feedback gain,which can ensure that the suffient condition is always satisfied.Again,an integrated design scheme of formation control and collision avoidance for general linear multi-agent systems in environment with multiple obstacles is proposed.Based on two new potential functions,an optimal control approach is utilized to achieve not only multi-agent formation but also obstacle/collision avoidance capability to avoid circle and rectangle obstacles,respectively.In this potential function,a novel relative velocity based self-adaptive detection region is proposed to avoid collisions with adjacent agents.Furthermore,a nonquadratic avoidance cost is constructed via an inverse optimal control approach.By introducing the inversed optimal control approach,the optimal control strategy is designed to guarantee the asymptotic stability of the closed-loop system and optimization of the proposed performance index.Finally,for the proposed methods above,some simulations are made by using Matlab and LMI toolbox,furthermore the effectiveness of proposed methods are verified.