Rotating Consensus Control Of Multi-agent System Under A Directed Graph

Multi-agent system is one of the essential kinds of DAI(Distributed Artificial Intelligence).It composes of multiple agents which are of autonomy,responsivity,motility and sociality.And it is aimed to separate a huge and complicated system into several smaller and easy-managing systems which can communicate with each other and keep coordinations mutually.Compared to single-object system,muti-agent system are more flexible and robust and easier to manage with lower cost.So it is widely applied to practical production.Therefore,much more attention has been paied by academicians in home and abroad on the multi-agent system and its distributed coordination control.What is to be studied in this dissertation is the consesus control,however,which is a little diffrent from the traditonal consensus control.Traditonal consensus control laws focus on forcing agents with diverse initial states to achieve the consensus related to a certain state variable.However,the traditional consensus control can not satisfies the increasing needs of people in many practical application,such as the aerial entertainment of UAVs and the military target encircling and striking.But,in this dissertation,a new kind consensus control which is based on agents' behavior states and will be presented,called the rotating consensus control,is really works on these practical needs.The rotaing consensus of multi-agent system is aimed at forcing agents with diverse initial states to revolve around expected common center with the same radii.And in this dissertation three kinds of rotating consensus will be investigated,which are rotating radius consensus,rotating relative angle consensus and rotating displacement consensus,respectively.We will first consider the rotating radius consensus problem.The dynamic model of a multi-agent system and necessary state variables will be given at the beginning,then is the mathematical description and definition of rotating radius consensus.The distributed rotating radius consensus algorithms will be proposed under two diffrent cases with general strong connected digraph.One is related to a stationary and known center and another is related to a mobile and unknown center.And convergence of the algorithms will be proved by graph theory and other necessary lemmas later.Based on rotating radius consensus,rotating relative angle consensus and rotating displacement consensus will be studied with respective mathematical description and definition.For the former,two cases will be considered as well.And relevant algorithms will be proposed under the ring digraph and proved by using graph theory and other necessary lemmas.For the latter,we only consider the one case where common center is known and stationary.Then,the rotaing displacement consensus algorithm is put forward based on general strong connected digraph and proved by graph theory and Lyapunov stability theory at the end.It is notable that all the simulation results associated with rotating consensus control laws will be provided after every relevant algorithm proof is accomplished.