Optimal Formation Control Of Multi-agent System

Formation control of multi-agent systems is an important subject in multi-agent systems research.Among them,it is very important for agents to avoid obstacles.Multi-agent systems rely on a simple combination of several agents and cannot fully utilize their advantages.Only through some form of cooperation can tasks be processed in complex environments.Multi-agents need to ensure multi-robot systems to achieve mutual cooperation.The smooth flow of information and control flows in the medium provides a framework for the activities and interactions between agents.Multi-agent systems have a wide range of applications,such as group and group collective behavior,sensor fusion,and stochastic networks.This thesis mainly discusses the obstacle avoidance of multi-agent system formation.Using the logical and physical information and control relationships of agents,the formation controller and formation algorithm are designed.The specific content is as follows:(1)This thesis designed a novel distributed predictive controller with good stability,which allows mobile robots to maintain the desired formation during their movement along the required path,and ensure that they are adjacent to obstacles or other There is no collision between the robots,and data is exchanged between them through the packet delay communication network.First,the closed-loop system dynamics equations are described as delay differential equations with adjustable parameters.These adjustable gains are then determined synchronously in each robot through the proposed prediction strategy to achieve the desired formation.Simulation and experimental results show the effectiveness and applicability of the scheme.(2)A decentralized coordinated motion control algorithm is proposed for the formation of a single-wheeled robot group described by standard kinematics equations that has strict constraints on its linear velocity and angular velocity.This algorithm allows the robot group to move together in any desired geometric pattern from any initial position.There are no predefined leaders in the robot group,and only local information is required for control.Finally,in order to verify the effectiveness of the proposed algorithm,computer simulation and real robot experiments were performed,and the results verified the feasibility and effectiveness of the proposed decentralized motion coordinated control algorithm.(3)For vehicle-type robots,i study distributed optimal formation control of multi-agent systems in obstacle-filled environments.Firstly,a new optimal formation control protocol is proposed.This protocol can make multi-agent systems achieve formation consistency,avoid obstacles through reasonable control,and construct a penalty function to achieve obstacle avoidance from the perspective of inverse optimal control.The asymptotic stability and optimality of the consensus algorithm are proved.Second,the control method of each agent only requires local agents to provide local information.Finally,the validity and applicability of the proposed method are verified by building a car-type robot platform,using computer simulation and physical test results.