Distributed Coordination Control For Second-order Nonlinear Multi-agent Systems

Although the approaches to control high-dimensional and complex single agent by the modern control theory are becoming increasingly mature,due to the fact that applications of multi-agent cooperation to complete the task assigned to a single agent can have more benefits,recent years,the distributed coordination control of multi-agent systems have attracted the attention of experts and scholars in different fields at home and abroad.By integrating the environment aware ability of multi agents and sharing their computing processing ability,the task execution ability of an agent group is extended,and the probability of mission execution success is improved.The first-order multi-agent systems have already been well studied,however,real physical systems are more complicated,and often accompanied by nonlinear characteristics.Therefore,it is of great significance in the research of distributed second-order nonlinear multi-agent systems coordination control.On the basis of the existing results,the paper mainly studied about the distributed coordinated control for second-order nonlinear multi-agent systems theoretically.The main research contents and results are as follows:For a group of agents with only one leader under directed topology,fully distributed multi-agent systems with inherent nonlinear tracking problem was studied.We took both heterogeneous constant gains and adaptive gains into consideration.Heterogeneous distributed gain controllers were designed for followers with different control gains.A kind of Lyapunov function was used to prove the stability of the algorithm and fullfilled the aim to track the leader.On the basis of the heterogeneous gain control algorithm,a distributed adaptive control law was proposed to improve the original algorithm.An integral type Lyapunov function candidate was used to verify the uniform convergence of the distributed tracking problem for second-order nonlinear multi-agent systems using adaptive gain controllers and achieved fully distribution.In view of the case of leader-follower coordination control,distributed coordinate control for second-order nonlinear multi-agent systems with distinct gain control under the directed topology was studied.Heterogeneous distributed gain controllers were designed for followers with different control gains.On the basis of the heterogeneous gain control algorithm,a distributed adaptive control law was proposed to improve the original algorithm.The stablity of the system was proved by Lypunov Theorem.Finally,the distributed adaptive tracking and containment problems were improved by a ? modification.The robustness of the system can be improved by the algorithm.A simulation was given to prove the effectiveness of the algorithm.