Research On The Consistency And Circular Formation Of Multi-agent Systems

As one of the priority issues in the field of control,the consensus problem of multi-agent systems has caused widespread concern in the research field.In this paper,Lyapunov function method is used to study the consensus and the circle formation problem of multi-agent systems.The main contents are as follows:1.we introduce the basic knowledge of algebraic graph theory and matrix theory.Then,we introduce the properties of the eigenvalues of Laplace matrix,inequality lemma and the Lasalle invariance principle,et al.2.by combining with special event-triggering condition and the sampled-data,the consensus problem of first-order multi-agent systems is studied based on the first-order neighbors' information and the second-order neighbors' information under a fixed topology network and switching topology network,respectively.The convergence speed problem of the first order multi-agent systems under different protocols is illustrated by simulation.3.by combining with special event-triggering condition and the sampled-data,we use Lyapunov function method to study the uniform circle formation control problem of the first-order multi-agent systems.4.we use Lyapunov function method to study the general circle formation control problem of the second-order multi-agent systems.