Discrete Multi-Agent System Formation Control

Formation control of multi-agent systems is widely used in scientific fields such as control systems,biology,and physics.In this paper,the networked predictive control method is used to study the stability analysis and formation control of discrete networked multi-agent systems,and it is used in orbit tracking control to solve the problem of multi-agent system formationFirstly,the stability problem of discrete multi-agent systems without communication delay is studied.The design method of distributed protocol is given.Using Lyapunov stability theory and linear matrix inequality knowledge,the multi-agent system is achieved.Asymptotically stable discriminating conditions.Secondly,considering the influence of communication delay on the stability of multi-agent system,using the predictive control theory,the stability problem of discrete-time multi-agent system with communication delay is studied.The Lyapunov stability theory is used to design the initiative.A distributed protocol that compensates for communication skew.Secondly,under the premise that the discrete multi-agent system with no communication delay and time-delay achieves asymptotic stability,the design method of the orbit controller is derived respectively,so that each agent can track the desired orbit.Furthermore,the problem of formation control with a certain formation structure is studied on the basis of no time lag and time-delayed orbit control.Finally,the numerical simulation of the stability,orbit tracking and formation control of discrete multi-agent systems without time-delay and timedelay is carried out.The correctness of the theoretical results is proved by numerical simulation.