Research On Several Issues Of Multi-agent Cooperative Control

Multi-agent system is a complex network system,and its applications involve many fields,such as UAV cooperative control,robot formation and sensor network design,etc.In recent years,the consensus problem of multi-agent system has been widely concerned by many scholars.How to design the appropriate protocol to make the states of individuals achieve consensus is the key problem in the research of multi-agent consensus.At present,most of the researches on consensus involve only first-order and second-order systems,and there is a lack of research on consensus of higher-order systems with finite subgroups.This thesis mainly studies the consensus of discrete-time third-order multi-agent with finite subgroups,the group tracking control and group formation problems of third-order continuous-time multi-agent systems.The main contributions and conclusions of this thesis are as follows:1.For the discrete-time third-order system with finite subgroups in undirected topology,the scaled consensus protocol of third-order multi-group system is designed firstly.Then the necessary and sufficient conditions for the system to reach scaled consensus and the convergence state of each subgroup agents are analyzed by using the basic properties of undirected graph and the theory of non-negative matrix.At the same time,in the sufficient proof of the system to reach scale consensus,the corresponding range of system parameters is obtained.Finally,a simulation example with six individuals is used to verify the theoretical results.2.For the discrete-time third-order system with finite subgroups in directed topology,the distributed scaled agreement is designed first.After that,the sufficient and necessary conditions for the system to achieve scaled consensus and the convergence states of each subgroup agents are obtained by using the eigenvalues and eigenvectors of Laplacian matrix and the system stability theory.At the same time,in the proof of the sufficiency of the system to reach the scaled consensus,the conditions that the system parameters meet are obtained.Finally,a simulation example is used to verify the theoretical results.3.To solve the problem of group tracking control and group formation control,the tracking control protocols and formation control protocols of the third-order continuous system are designed firstly.Next,after a series of system transformations,tracking control and formation control problems are transformed into consensus problems.Finally,by using graph theory,stability theory and some lemmas,the sufficient and necessary conditions for the new system to reach scale consensus are obtained,and the conditions of the original system to reach group tracking control and group formation control are further obtained.The results are verified by an example.