Research On Controllable Containment Control Of Multi-agent Systems

In recent years,with the continuous progress of human society and the rapid development of modern science and technology,many subjects such as computer technology,biological technology and information processing technology have been deeply studied.The containment control of multi-agent systems is of great significance in many practical engineering applications,such as UAV formation,traffic flow control and sensor networks,which has aroused the interest of many scholars.As a special multiple leaders consensus,containment control has great application value in the fields of ground monitoring,investigation and environmental exploration.Considering the leader selection and how to achieve efficient global behavior with the least control cost,which has become one of the key contents in research on multiple leaders cooperative control.In this paper,by studying and summarizing the hot issues and related theoretical knowledge of the coordination control of multi-agent systems,the controllable containment control of multi-agent systems is investigated,which is based on the basic control algorithm and the mathematical tools such as graph theory and matrix theory that are related to the research of this subject.The main research contributions are as follows:1.The controllable containment control of multiple robotic fish system is investigated,which considers the kinematic constraints of underwater robotic fish and the leader selection.Combining the controllability theory with containment control,a controllable containment control algorithm of multiple robotic fish based on bipartite graph maximum matching is proposed.Firstly,the maximum matching algorithm of bipartite graph is used to determine the minimum set of leaders satisfying the system controllable,the others are followers.Secondly,for the model of simulation robotic fish,the corresponding control protocols for leaders and followers are designed,respectively.Finally,the simulation experiment based on the URWPGSim2 D simulation platform proves that the controllable containment control of multiple robotic fish can be effectively achieved by the proposed algorithm.2.A controllable containment control algorithm based on hierarchical clustering for multi-agent systems is presented by considering the situation of large-scale agents facing multi-objective tasks in practical application,and combining the theory of topology optimization with controllability theory.Firstly,the multi-agent network is divided into several communities according to the hierarchical clustering algorithm;Secondly,the maximum matching algorithm of bipartite graphs is used to find out the individuals who can control the system as leaders.Then the corresponding control protocol is designed for all agents,and there may be some cases where the individuals located outside the convex hull,aposition adjustment control force is introduced to adjust the motion of the individuals into the convex hull,in order to achieve the double layers controllable containment control which in each community and between different communities.Finally,the simulation results verify that the controllable containment control in each community and between communities can be effectively achieved by the proposed algorithm.3.Considering the situation that there may be obstacles in the actual environment,the controllable containment and obstacle avoidance control of multi-agent systems is studied.Firstly,the maximum matching algorithm of bipartite graph is used to determine the leaders satisfying the system controllable.Then the corresponding control protocol is designed for all individuals,and introduces an artificial potential function,which is used to avoid the obstacles encountered during the movement of the agents.Finally,the simulation experiment proves that the controllable containment and obstacle avoidance control of multi-agent systems can be achieved by the proposed algorithm.