Cooperative Control Of Nonlinear Multi-agent Systems Based On Passiv

In recent years,with the cross-development of computer science,control science,biology,physical science,statistics,sociology and other disciplines,and the wide application of multi-agent system in the fields of multi-robot swarm control,drone formation control,spacecraft attitude control and so on,the collaborative control of multi-agent systems has attracted more and more attention from researchers.At the same time,considering the passivity of the system can guarantee the internal stability of the systems,and so far,few scholars have used the passivity to study the consensus and formation control problems of the multi-agent systems.Therefore,this paper analysis and research on the consensus and formation control problem of the multiagent systems through graph theory,matrix theory,Lyapunov stability theory and passivity theory.Finally,the effectiveness of the theoretical results is verified by employing the MATLAB mathematical software.The main content of the paper is as follows:For the consensus problem,the nonlinear first-order multi-agent system model is considered,two control schemes including PD control scheme and PI control scheme are proposed.Based on the Lyapunov stability theory and graph theory,the criterion of passivity for the multi-agent system is established,and the sufficient conditions for the multi-agent system to achieve consensus under several controllers are obtained.For the formation problem,the nonlinear second-order/double-integral multiagent systems model is considered,and two suitable adaptive state feedback controllers are designed to ensure the passivity of a single agent,and two control protocol including linear coupling control protocol and nonlinear coupling control protocol are proposed to ensure that the nonlinear second-order/double integral multi-agent systems can realize formation based on the passivity of each agent.