Research On Multi-agent Formation Control Methods Based On Bearing Rigidity Theory

In the past few decades,the cooperative control of multi-agent systems has attracted extensive attention due to its wide application in military,energy,power and other fields.Formation control is an important research field in the cooperative control of multi-agent systems,and some results have been achieved.The existing research theoretical results mainly focus on the formation control of multi-agent systems based on distance and position information.It is not easy to build control algorithms based on the above information to solve the problems of formation rotation and scaling,while the method based on bearing constraints has better rotation and telescopic ability.It provides a new idea for solving formation control and becomes a new research hotspot.Based on the theory of bearing rigidity,this paper will study new formation control methods and control schemes of formation maneuver for the bearing-constrained second-order multi-agent system.The main research contents are as follows:1.Aiming at the formation control problem of multi-agent systems where the control target is constrained to relative bearing,the bearing rigidity is used to prove that the geometric configuration of the desired formation is unique in space when the formation satisfies infinitesimal bearing rigidity and contains at least two leaders as anchors.2.Aiming at the formation control problem of multi-agent systems constrained only by bearing,a formation control method based on position measurement information is proposed.Under the external disturbance signal,by introducing the proportional integral control mechanism,the static error brought by the bounded constant disturbance to the system is eliminated,and the system stabilization is realized.3.Aiming at the multi-agent system whose desired formation is constrained by bearing,using bearing measurement information and considering the cases where the leader has a time-varying or constant reference state,a formation control method is proposed.And the system is proved to be asymptotically stable by Lyapunov stability theorem and invariant set theorem.4.Aiming at the bearing-constrained multi-agent system with dual-leaders structure,a formation maneuver control method is proposed,which utilizes the feature that the formation can be arbitrarily translated and scaled under fixed bearing constraints.A control law for the second leader is designed and a strict stability analysis process is given.The dual-leaders structure will have new capabilities by imposing additional distance constraints between the dual-leaders,which allows the dual-leaders subsystem to control the maneuvering of the entire formation,including translation,scaling and rotation.The proposed control method enables the maneuvering of the entire formation.In summary,the formation control method designed in this paper for a multi-agent system constrained only by bearing based on bearing rigidity theory,not only realizes the formation control based on position measurement information,but also realizes the formation control based on bearing measurement.And it can satisfy the situation that the leader has time-varying or constant reference state.The system realized the translation,scaling and rotation maneuvers by deeply analyzing the mobility of the formation,which provides a new solution for system’s obstacle avoidance to a certain degree,and enriches the distributed cooperative control design strategy of the multi-agent system.