Distributed Tracking Protocol For Multi-agent System Using The Control Input Of Neighboring Agents

In the past recent years,the distributed control protocols for multi-agents networks has aroused increasing attention.The distributed synchronous tracking control based on the neighbor control information with delay is investigated in this thesis.Moreover,both the stability of the system and the convergence of the tracking error are analyzed with the theory of linear neutral system.In the thesis,the stability of the linear neutral delay system is expatiated,and the judgment theorem of the delay-independent stability of the linear neutral delay system is described in detail.What’s more,the theorem is analyzed algebraically,which provides theoretical basis for this works.For the synchronously tracking control of speed,two-level neighbor based on the first-order multi-agent systems is introduced.With the delay information of two-level neighbor,a distributed control protocol is derived to guarantee the time-delay independent stability of the closed-loop system.The designed protocol can be proved to be stable by the judgment theorem of the linear neutral system.According to the second-order multi-agent systems,the tracking control protocol is formed from two different perspectives.Firstly,delay is added into the input control information of neighbors in the presence of classical distributed tracking control protocol.The stability for the control protocol is proved by the stability criterion of the linear neutral system.Secondly,for the synchronously tracking control of position,the second-order synchronously tracking control of systems can be converted to a new first-order system by employing the relative-order reducing technique.Then the distributed control protocol of the first-order multi-agents can be used to design the distributed tracking control protocol of system.With the design,the protocol is able to achieve independent of delay in the closed-loop system.The synchronously tracking control protocol can be further extended to the multi-agent formation control in the second-order multi-agent systems.Under the research of tracking control protocol,we added the constant deviation value into the state variable to obtain the formation tracking protocol.Finally,the protocol is applied to the quadrotor flight platform for illustrating the accuracy of the theory from the experimental point of perspective.