Distributed Tracking Control For A Class Of Multi-agent Systems

With the development of science and technology of China and constant progress,multi-agent system in engineering application is more and more widely,especially in the field of aerospace,robot of artificial intelligence,playing a more and more important role.Multi-agent system is made up of independent combination between multiple agents.These agents can respond to changing environment quickly,and the free agent can interact and cooperate with each other for various complex tasks.Multi-agent has many characteristics,such as distribution,autonomy and coordination,and has a higher intelligence than a single agent,and the ability to deal with all kinds of complex problems.Therefore,the research of multi-agent system tracking control problem is a very important hot issues in the field of multi-agent systems.However,to achieve co-ordination between the various agents is a key problem we studied.This paper studies the consistency problem of known and unknown control direction in nonlinear multi-agent systems.Constructs a new Lyapunov functions,according to the Lyapunov stability theory,the stability criterion of nonlinear multi-agent system was derived.First,we study known control direction of the first and second order nonlinear multi-agent system,and then promote the unknown control direction of the first and second order nonlinear multi-agent system.The stability criterion is available in Matlab Simulink simulation.The main content of this article is divided into the following five chapters:In chapter 1,we analyzed research background and research significance of the nonlinear multi-agent system,and briefly introduced the nonlinear multi-agent system and the research status of the consistency of the control,methods is given in this paper to solve the problem.In chapter 2,we briefly introduced the algebraic graph theory and matrix Kronecker product,used by Lyapunov stability theory and the important lemma.In chapter 3,we first discuss the known control the direction of the first order and second order nonlinear tracking control of distributed multi-agent system.We made the system more complex,first for a first order system,designed a new Lyapunov functions,derived by using the Lyapunov functions and Lyapunov stability theory the stability criterion.Then,we promoted the second-order system,and designed a new Lyapunov function,by using the Lyapunov functions and Lyapunov stability theory,the stability criterion is derived.Finally,we made a simulation example to illustrate the income stability criterion of this chapter on the accuracy of the results.Chapter 4 is the further improvement of the result of the chapter 3.We researched nonlinear multi-agent system consistency of unknown control direction.First for a first order system,we designed a new Lyapunov functions,derived by using the Lyapunov functions and Lyapunov stability theory the stability criterion.Then for the second order system,we designed a new Lyapunov functions,derived by using the Lyapunov functions and Lyapunov stability theory the stability criterion.Finally,we made a simulation example to illustrate the income stability criterion of this chapter on the accuracy of the results.In chapter 5,we summarized the main research contents of this paper,and the analysis of the stability criterion,and made further outlook for the next step of research center of gravity.