The multi-agent system composed of multiple carriers is more adaptable to complex environments and can accomplish tasks that traditional single carriers cannot. For the problem of multi-agent formation assembly and formation movement tracking, an improved new algorithm for multi-agent formation cooperative control is proposed. First, based on the task background that the follower agent can only measure relative bearing information through optical sensors in the denial environment, a control law based on relative bearing information and single distance measurement is proposed for the multi-agent formation of the "leader-first follower" structure. Then, the first follower agent can follow the moving leader agent, and the overall team shape of the formation can be zoomed and controlled by changing the distance from the first follower agent to the leader agent. Second, an improved distributed control law is proposed to enable the rest of the follower agents to complete formation flying through only two relative position information. Then, according to the second method of Lyapunov, the energy function of the system is constructed, and the stability of the proposed algorithm is verified. Finally, the effectiveness of the proposed algorithm is confirmed by numerical simulation experiments, which show that the multi-agent system based on the control law can complete the tasks of formation assembly, formation zooming and formation flying.
YE Jiesong
,
GONG Baichun
,
LI Shuang
,
DU Yanli
,
HAO Mingrui
. Multi-agent formation cooperative control using relative bearing information and single-spacing measurement[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021
, 42(7)
: 324610
-324610
.
DOI: 10.7527/S1000-6893.2020.24610
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