Distributed Coordination Contriol For Second-order Multi-agent System Under Heterogeneous Networks

In recent years,because of the rapid development of UAV and robot,it is necessary for scholars to study the multi-agent system.In this paper,we use double integrators to model the single agent,and the coordination control problems of the second-order multi-agent system are studied.In most existing works of muti-agent system focus on the homogeneity network of agent with double integrators,i.e,the position network and the velocity network of multi-agent system are the same.Due to the different sensors used to measure position and velocity information of agents,there are different networks for measuring and transferring position information and velocity information.Therefore,it is more practical to discuss the coordination control of the multi-agent system in the heterogeneous networks.In this paper,the main results are as follows:First of all,when the second-order multi-agent system without leaders,we study the distributed consensus of the second-order multi-agent system in heterogeneous networks.We separately propose distributed consensus algorithms with absolutely velocity feedback and without absolutely velocity feedback.We firstly consider the undirect position networks,we separately propose consensus algorithms which include absolutely velocity feedback when the velocity networks are balanced graph and a general directed graph.We use Russell invariance principle to prove the stability of the closed loop system,and the correctness of the algorithm is verified by simulation.secondly,where the position network and the velocity network both has a spanning tree,we propose a control algorithm without absolutely velocity feedback.When there is a leader,and the leader's velocity is constant or variable,we propose coordination algorithms for agents.Firstly,we consider the special situation when the agent's network is the same,we propose distributed coordination algorithms when the leader's velocity is constant or variable respectively.Secondly,we consider the agent's topologies are heterogeneous topologies,we propose distributed coordination alogorithms when the leader's velocity is constant or variable respectively,and we get some sufficient conditions.