| Distributed control theory of multi-agent system has been widely concerned and studied by many scholars because of its potential application prospect such as multi-vehicle system control,motor coordination,transportation scheduling,smart grid and multi robot control system and many other fields in recent years.Scientists achieved fruitful results from the research on information exchange and dynamic behaviors of intelligence according to cluster behaviors including surrounding control,encircling control,cluster control and so on.Research on cluster behavior is an important aspect in terms of multi-agent system and its main task is to achieve the requirement that many intelligent agents can finish cluster behavior based on local information.Cluster behavior on preserving connectivity of topology of information exchange was studied in this paper and the main contents are as follows:1.Cluster behavior with control of multi-agent system under multiple virtual leaders was studied.For the second-order multi-agent system,the network topology which is connected or not was used to analyze cluster behavior by setting the input algorithm with control.It was proved that the followers of group are consistent with the leaders in terms of speed under the common action of multiple leaders,and collisions among them are avoided.The simulation that examples were utilized was used to verify the correctness of algorithm under the help of Matlab,but also the cluster behavior was finished.2.A control problem of cluster behavior on the second-order multi-agent system based on event of triggering mechanism was studied.An threshold of event trigger was set for the system control input so that the cluster behavior can be done under the action of time.The stability of the algorithm was proved by using the artificial potential energy function and LaSalle einvariance principle method,and the correctness of the algorithm was verified by Matlab simulation software. |
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