关键词: 多智能体系统, 编队控制, 非线性, 一致性

Abstract: In this paper, a hybrid distributed controllers is proposed for the circular formation control of a group of multi-agent systems with constant and non-identical speeds. The controller consists of two parts, one part acts on the phase of the system and the other part acts on the angular frequency, in which the controller on the angular frequency mainly coordinates the influence of the phase change and the initial angular frequency on the stability of the system. The formation design is mainly based on the phase control of the system. In this paper, two formation design schemes are given, namely, position-based approach and displacement-based approach. The agent position-based approach can perceive its expected center position in real time and converge to the corresponding expected position when a formation develops. The agent displacement-based approach needs to perceive the relative displacement between itself and its neighbors in real time, and then converge to the difference of the expected center position between itself and its neighbors. The research results show that the hybrid controller drives the agents to gradually form a desired circular formation at the specified angular frequency when the agents with constant and non-identical speeds in any initial state, and the phases of all agents are synchronous or balanced, and their angular frequencies are asymptotically synchronized and converged to the specified value. The simulation of a system composed of five agents shows the four-cycle motion trajectory intercepted is consistently circular, and the error between the simulated center position and the expected center position based on the position method is below 0.01, the error between the relative displacement and the expected displacement based on the displacement method is below 0.000 2, demonstrating the accuracy and effectiveness of the formation control scheme.