Research On Formation Control For Multi-agent Systems With Sampled Data

Formation control of multi-agent systems has been applied in many areas,such as unmanned aircraft formation,unmanned vehicle formation,multi-robot formation,which have attracted the attention of many researchers.In many engineering applications,due to the interference from the external environment,the limited channel transmission bandwidth,the restriction of communication equipment and controller equipment,it is difficult to maintain continuous communication between agents and the continuous updating of controllers.In addition,some complex tasks cannot be accomplished by multi-agent systems with only one leader,however,these complex tasks can be accomplished by multi-agent systems with multiple leaders.Thus,this thesis investigates the sampling mechanism for formation control problems of multiagent systems.All the agents are divided into the set of the follower group and the set of the leader group,and there are multiple leaders in the set of the leader group.Research on the formation control problem of multi-agent systems with periodic sampling.There is no communication between leaders,and the aim is that followers achieve formation and track the convex combination of the states of multiple leaders.A control protocol of followers is designed,and information of agents is obtained under periodic sampling in this protocol.By using the graph theory,the matrix theory,the linear matrix inequality method,a sufficient condition for the multi-agent systems achieving this aim is obtained based on this protocol.Research on the formation control problem of multi-agent systems with periodic sampling and input time delay.Communication exists between leaders,and the aim is that leaders achieve formation and surround the followers.The control protocols of both leaders and followers are designed,and information of agents is obtained with periodic sampling and input time delay for both protocols.By using the matrix theory,the graph theory,the linear matrix inequality method,a sufficient condition for the multi-agent systems achieving this aim is obtained based on both protocols.Research on the formation control problem of multi-agent systems with stochastic sampling and input time delay.There is no communication between leaders,and the aim is that followers achieve formation and track the convex combination of the states of multiple leaders.A control protocol of followers is designed,and information of agents is obtained under stochastic sampling and input time delay in this protocol.Moreover,a Lyapunov function is constructed and solved,and a sufficient condition for the multi-agent systems achieving this aim is obtained based on this protocol.