Flocking Of Nonlinear Multi-Agent System With High Frequency Feedback Robust Control

It is widely acknowledge that the flocking of multi-agent systems are widely employed in the process of artificial intelligence.However,there are many problems in the research and application of the flocking of multi-agent systems.The following research is carried out on the instability that may occur in the application process of the flocking of multi-agent system and the fact that a certain parameter is unknown during the research of the flocking of multi-agent system.Firstly,a controller that has high-frequency feedback robust control is designed.Through the employment of boundedness theorem,Lyapunov stability theorem,it's proved that velocity error is gradually stabilized and no collision occurs between agents.Though the comparison of numerical simulation,the flocking of multi-agent system with high-frequency feedback robust control shows better stability.Secondly,a controller that has high-gain feedback robust control is designed.Through the employment of nonlinear decay theorem,boundedness theorem,Lyapunov stability theorem,it's proved that velocity error is gradually stabilized and collisions between agents are also avoided.Though the comparison of numerical simulation,the flocking of multi-agent system with high-gain feedback robust control shows better stability.Thirdly,for a situation where a parameter in the flocking of multi-agent system is unknown,add unknown parameters to the controller that has high-frequency feedback robust control.It's proved that velocity error is gradually stabilized.Though the comparison of numerical simulation,the number of the multi-agent and the initial state of the multi-agent will not impose any effect on the formation of the flocking of multi-agent system.Changes in the initial values of unknown parameters also do not have any effect on the identification of parameters in the system.