| Automatic driving car,also known as unmanned vehicles or smart cars,is a new type of intelligent vehicle.In recent years,the research on automatic driving vehicle is increasing day by day.Automatic driving car not only has great potential in commercial and civilian market,but also has a wide use in the military.Compared to manual driving,automatic driving is more agile and reliable,has higher efficiency.Automatic driving broke through the limit of the driver,and helps to reduce traffic accidents,alleviate traffic congestion and reduce energy consumption.In the military,automatic driving cars also have important applications.Unmanned vehicle technology can make the car go into the military dangerous areas,prospect the road,rescuse the wounded and fight against the enemies.It is of great significance to carry out simultaneous attack on the same enemy target by a number of unmanned vehicles,which requires that the automatic driving vehicle queue need to arrive at the designated position at the same time and equire multiple unmanned vehicle systems to reach consensus within a certain period of time,so the better control algorithm is very important.To sum up,it is of great significance to improve the safety of unmanned vehicles.This paper focus on the motion model and control strategy of the unmanned driving cars,uses the distributed control strategy.In order to describe the information organization and delivery process in the process of collaboration among multiple unmanned vehicles,we need to build a multi-agent framework based on multi-agent’ behavior and structure for unmanned vehicle formation,in which every vehicle is an intelligent vehicle,and all unmanned vehicle systems constitute the entire multi-agent system.In this paper,we mainly research the consensus algorithms for first-order systems,second-order systems and high-order heterogeneous systems with time-delay.The main results and contributions of this paper are as follows:1.Introduce the consistency theory and the methods to judge whether the system is convergent.2.Introduce a static control algorithm for second-order multi-agent systems.A new algorithm for dynamic control algorithm of continuous time second-order multiagent systems with time-delay is given.A sufficient and necessary condition is given to guarantee the consensus.By using eigenvector-eigenvalue method and frequency domain method,it is proved that the largest tolerable time-delay is only related to the eigenvalues of the graph Laplacian.3.Research the consensus problem of high-order heterogeneous multiagent systems with arbitrary bounded communication delays.Through the method of nonnegative matrices,we get a sufficient consensus condition for the systems with dynamically changing topology.The results of this paper show,even when there are arbitrary bounded communication delays in the systems,all agents can reach a consensus no matter whether there are spanning trees for the corresponding communication graphs at any time. |
