Research On Leader-Follower Formation Maneuver Control

Multi-agent formation control refers to the control technology that multiple agents form and maintain a specific configuration in the process of moving to the target,and can avoid obstacles to adapt to environmental constraints.It has important application value in industry,military,aerospace and many other fields.Based on this background,this dissertation proposes a formation maneuver control method with relative position constrains and a formation maneuver control method with bearing constrains.Considering the practical application,this paper also studies collision avoidance between agents and formation control modeling and simulation analysis.The main contents and contributions of this dissertation are as follows:Design of formation maneuver control method with relative position constraints.It is assumed that each follower can obtain complete information of adjacent agents.Therefore,the formation maneuver control strategy based on traditional proportional differential control is proposed,which takes the relative position of agents as the constraints.Each follower only needs to measure the information of one adjacent agent,and adjust its position to meet the constraint conditions to achieve the desired formation configuration.Finally,the local asymptotic stability of the relative position constrained formation control strategy is proved.Design of formation maneuver control method with bearing constraints.Because some agents are limited by the sensing ability of the sensors,they cannot obtain complete information of adjacent agents.At this time,formation maneuver control cannot be based on relative position constraints.This dissertation further proposes a formation maneuver control strategy based on bearing constrains.Under this control strategy,Followers do not need to obtain the relative distance information between its adjacent agents,but only measure the bearings of its adjacent agents.Finally,the local asymptotic stability of the bearing constrained formation control strategy is proved.Design of collision avoidance control strategy among agents.The collision between agents may occur in the actual maneuvering control process of formation,so the collision avoidance control strategy between agents in formation is studied.Firstly,the safety analysis of formation maneuvering control is carried out,and the initial position constraints to avoid the collision between agents are given for the relative position constrained formation.Secondly,considering the general formation,the collision avoidance control strategy suitable for any constraints is designed.Modeling and simulation analysis of multi-agent formation control.Firstly,the multi-agent formation control model is built.Then the principle of measurement module and the process of state estimation are analyzed.Secondly,the effect of actuator dynamic response delay and measurement noise on formation maneuver control is analyzed by numerical simulation,which verifies the effectiveness of the formation maneuver control method designed in this paper.