Research On Continuous Coverage Control Of Multi-agent Systems

With the rapid development of technologies in the fields of computers and communication networks,related subjects of multi-agent system have become a new research direction in the fields of mathematics,computational science and automatic control.Persistent coverage control has been one of the important research subjects in the field of coverage control for multi-agent systems.A good coverage control strategy can effectively improve the perception level and the quality of service of network systems.Therefore,persistent coverage control problem of multi-agent system has important practical significance and research value.This paper focuses on the related issues of designing speed controller,energy limitation and measurement errors for persistent coverage control.Firstly,considering the persistent coverage control of multi-agent system,this paper uses the nonlinear cumulative function model to represent the uncertainty of complex environment.And two control strategies are designed,which are homogeneous speed controller and heterogeneous speed controller,and the speed depends only on the current position of the agent.And we derive conditions to make the environmental uncertainty zero.The speed controller and cycle coverage period are obtained by solving a linear programming.Eventually the multi-agent system periodically covers the task area.Then,persistent coverage control of multi-agent system with energy-limited is studied.Based on the environment model and the speed controller,the multi-agent energy consumption rate definition is given,including the energy consumption for driving the agent movement and coverage.The optimal moving time control strategy and optimal coverage time control strategy for multi-agent systems are derived.Finally,persistent coverage control of multi-agent system with measurement errors is studied.The problem of environmental growth rate with measurement errors is analyzed,which leads to the problem of re-modeling the nonlinear cumulative function.A speed controller for the robustness of a multi-agent system under measurement error is derived.The stability margin analysis of the systems under error interference is performed.Considering the number of multi-agent,the control strategy of the minimal number of agents is derived,and the persistent coverage control of the multi-agent systems is completed.