Fixed-time Collision-Avoidance Flocking Of Multi-Agent System With Leader-Following Structure

The flocking behavior of multi-agent systems is currently the frontier and hotspot of research in the field of artificial intelligence.Because the multi-agent system has the characteristics of low cost,high efficiency,quickness and convenience,it has a wide range of application prospects in private production and national defense construction.Therefore,the research on the mechanism of multi-agent systems forming flockings in a fixed-time,collision-avoidance conditions,flocking time and scale has important theoretical and practical significance.The paper investigates the fixed-time leader-following flocking of the second-order multi-agent systems with collision-avoidance by employ non-smooth technology,graph theory and Lyapunov stability theorems,and some new conclusions are obtained.In chapter 1,it explains the research background,the research status at home and abroad,main content and innovation of this article.In chapter 2,it provides preliminary knowledge,such as reasonable definitions,symbolic functions,non-smooth techniques and fixed-time sta bility theorems.In chapter 3,it explores the fixed-time leader-following flocking of multi-agent systems.The sufficient condition for the flocking to avoid collision is given,and the second-order nonlinear multi-agent systems in the non-Lipschitz continuous condition forms a leader-following collision-free flocking within a fixed time.The upper bound of the stability time of the system is estimated.when the multi-agent system forms a leader-follower flocking,the stability time has nothing to do with the initial state of the systems,but only with system parameters.The group size of the system is also reckoned.Finally,these are verified by numerical simulation.In chapter 4,it implifies the parameter conditions and redesigns the control protocol of the second-order multi-agent system,so that the system forms a fixed-time leader-following flocking in a shorter time,and also estimates a simpler upper bound of the settling time and group size.The correctness of the theoretical analysis is verified by simulation.