Dynamic Modeling And Stability Analysis Of Formation Control For Multi-agent System

In recent years,the related researches on multi-agent system such as self-organizing flocking movement and formation control have gradually become a hot spot direction that many scholars focus on.Based on Newtonian mechanics,cybernetics and other theories,most scholars studied the dynamics modeling,formation control,flocking motion stability and formation control consistency of self-organized flocking behavior of multi-agent complex systems.In addition,whether the flocking movement can be quickly achieved and maintain the preset target formation configuration is also an important and practical problem.Based on the theories of rigid graph and graph realization,this paper studied the free formation control problem of flocking motion through Newtonian dynamics modeling of multi-agent systems.The specific research contents are as follows:(1)The dynamics modeling and analysis of the formation control group flocking movement of the multi-agent system in two-dimensional space are carried out.Firstly,the adjacency graph structure is designed for the system according to the expected formation structure,and the local control rate that can realize the formation control flocking movement is constructed for the agent,and the dynamic model is established for the system;secondly,the stability of the system formation control flocking movement is proved,and the stability results of the flocking movement under different formation configurations and different initial attraction domains are analyzed.Finally,the numerical simulation is carried out,and the influence of the adjustment factor on the flocking movement of the system is analyzed.(2)we figured out the dynamic modeling and analysis for the formation control group flocking movement of the multi-agent system with leaders in two-dimensional space.First,we construct an adjacency graph structure for the system according to the expected formation configuration.Secondly,we divide the system into a leader layer and a follower layer,and establish dynamic models of different layers respectively.Further we establish an overall dynamic model based on the force of the follower in different regions.Finally,the stability of the system’s formation-controlled flocking movement is proved and the theoretical results are verified by numerical simulation.(3)we studied the dynamic modeling and analysis for the multi-agent formation control flocking movement in three-dimensional space.Secondly,it is proved that when the initial positions of all agents are within the attractive domain of the equilibrium point of the model,the system can achieve the stability of the formation control group flocking movement.Finally,the flocking motions of three different configurations are simulated and the theoretical results are verified.