Research On Heterogeneous Multi-agent Systems Based On Consensus Theory

In recent years,multi-agent collaboration is gradually becoming a hotspot in the scientific research community,in the military,civilian field have broad prospects.In the multi-agent coordination problem,formation problem because of its wide range of application scenarios have attracted people’s attention,related research gradually from homogeneous multi-agent to heterogeneous multi-agent,heterogeneous multi-agent is a multi-agent system composed of different dynamic models,which improves the singleness of the homogeneous agent in completing the task,compared with the homogeneous agent,can complete more complex tasks.In practical applications,such as heterogeneous systems composed of unmanned aerial vehicles(UAVs)and unmanned ground vehicles(UGVs),the functional limitations of single UAV and single UGV are eliminated.Based on the principle of consensus,the principle of artificial potential field method,optimal control theory and inverse optimal control theory,this paper studies the formation problem of second-order homogeneous multi-agents,focusing on the formation problem of heterogeneous multi-agents,formation form and obstacle avoidance optimization of heterogeneous multi-agent systems with and without obstacles,and the specific research content is as follows:(1)Based on the principle of second-order homogeneous multi-agent system consensus,the formation control law of the second-order system is designed.The selection range of the control gain in the control law is derived,the influence of the selection of the control gain range on the system stability is proved,and the effectiveness of the second-order system consensus protocol and formation control law is simulated and verified.(2)A heterogeneous multi-agent system composed of UAVs and UGVs is constructed.The consensus formation control law is designed for the system,the selection range of control parameters is derived,the stability of the system is proved.The effectiveness of the uniform formation control law of the heterogeneous system is verified by simulation.(3)On the basis of the research in the previous part,in order to make the formation of heterogeneous system formation at the desired target point and for the optimization problem in the formation process,based on the optimal control theory,a linear quadratic regulator is designed.The formation error and control input are selected as constraints,an optimal consensus formation control method is designed,the formation control law is derived,and the stability of the system is proved.The simulation verifies that under the action of the control law,the system can achieve the control effect of formation form at the desired target point.(4)Considering the problem that obstacles will be encountered in the actual formation process of heterogeneous system,based on the inverse optimal control theory and artificial potential field method,the obstacle model is abstracted into a cylindrical model,the non-quadratic potential function is derived,and the inverse optimal consensus obstacle avoidance control law is designed.The Lyapunov function is selected to reverse the control law,and the stability of the system is proved,and finally the simulation verifies that under the action of the control law,the system can achieve the control effect of formation form and obstacle avoidance.