Research On Formation Control Based On Multi-agent System

Multi-agent system has become a hot issue in the field of artificial intelligence and control,among which formation control of the system has a wide range of application value and has been concerned by a large number of scholars.In this paper,formation control based on multi-agent system is mainly studied.The main research contents and contributions include the following aspects:1.The formation movement of unmanned vehicles has better environmental adaptability and efficient utilization of resources,so it is of great practical significance to study it.Based on the multi-agent system,the formation control protocol of unmanned vehicles is designed from the multi-agent consistency theory and cluster control idea.Finally,the effectiveness and feasibility of the protocol are verified by numerical simulation.2.Based on the natural phenomenon of shepherd dog and sheep,the formation control problem of cooperative-competitive multi-agent system is studied by using the stabilization theory.The concept of independent strongly connected component with balanced structure is proposed.A distributed control protocol is designed for each agent under the leader-follower strategy,and the formation movement of cooperative and competitive interactive network is realized.The necessary and sufficient conditions for the cooperative-competitive formation of multi-agent systems are obtained by using the independent strongly connected component of structure balance on the topological graph.The theoretical results are verified by numerical simulation and the results show that the protocol can ensure a group of agents to reach the desired formation and achieve cooperative-competitive formation movement.3.UAV formation broadens the application prospect of UAV.In this paper,a new UAV formation control protocol based on multi-agent system is designed by integrating the leader and follower control protocol in the framework under the leader-follower strategy.The protocol can randomly assign the UAV as the leader,which makes up for the deficiency of the leader-follower strategy.The leaders can be influenced by the navigation feedback of the followers,and improves the adaptability and scalability of the system.It is proved theoretically that the UAV group under the protocol will not collide and can converge to the desired formation.Numerical simulation is given to verify the speed and trajectory tracking ability of the protocol.The results show that the protocol can ensure the flight of a group of UAVs in a predetermined formation and trajectory.