Collision-avoiding Flocking Behavior Of Multi-agent System With Time Delay

The research of cluster mode is an important part of the research of self-organizing system,and it is also a research hotspot of multi-agent system.The relevant research results have important theoretical significance and military application value.At present,the cluster research of multi-agent systems is more Focusing on individual speed matching and location concentration,less consideration is given to collision avoidance behavior and formation behavior between individuals.In fact,in the military field,for example,the cooperative formation of drones can greatly enhance the attack and defense capabilities of drones.Therefore,it is very necessary to study the formation behavior of multi-agents.This paper mainly studies the cluster formation behavior of the multi-agent system based on Cucker-Smale model and the effect of time delay on the consistency of high-order linear multi-agent system.The first chapter introduces the research background,research significance,research status and development trends of this paper and the main work of this paper.The second chapter studies the effect of time delay on the consistency of high-order linear multi-agent systems.By transforming the consistency of the system into the asymptotic stability of the zero solution of the new system,the time delay is given by a tool such as Gronwall inequality.When the specific range is taken,the system achieves sufficient conditions for consistency and improves the existing results of Yu et al.In the third chapter,a new collision-free formation model based on the classical Cucker-Smale model is studied.By introducing control items such as exclusion term and potential energy function,the Lyapunov function is constructed to prove the global collision avoidance of the new model solution;further in association When the function index is different,the estimation of the maximum relative distance is obtained,and finally the formation of the collision-free clustering mode is proved by the Lasalle invariance principle.On the one hand,since the whole system is established in the non-conservative field,the cluster mode pair obtained in this paper The initial value dependence is much weaker than the conservative field model in the existing article.On the other hand,the result improves the static collision avoidance results in Cucker and Dong.In the fourth chapter,the collision-free formation behavior of the Cucker-Smale model with singularity is studied.The collision-free behavior of individuals is obtained by the singularity of the correlation function.The maximum and minimum relative distance between individuals is obtained under certain initial conditions.Estimation;combined with the Barbalat lemma,gives the result of the movement of the cluster in the direction of the given formation.The fifth chapter summarizes the work of this paper and gives further prospects for future work.