Distance-based Global Stability Control For Rigid Formation

Multi-agent systems have a wide range of application backgrounds in many fields today,such as industrial manufacturing,national defense and military,daily life,etc.,so they have received extensive attention from scholars in different fields at home and abroad.Among them,the formation control of multi-agent system is a basic and important problem in the multi-agent field,which requires all agents to form a specific formation and keep the formation unchanged during the execution of the task.Distance-based formation control can avoid collisions between agents and has strong practical value,and has gradually become a research hotspot in recent years.In this paper,the global rigid formation stabilization control problem of distance-based multi-agent systems is studied.Aiming at the first-order integrator model,continuous controllers are designed for three agent formations under two topologies: undirected and coleader.The global stability of the closed-loop system is analyzed.Finally,the distributed control algorithm is applied to the nonholonomic robot formation experiment based on ROS system.The main research contents of the paper are as follows:1.In order to avoid the non-smooth problem of the global rigid formation algorithm of the three agents,a new global control algorithm is proposed under the undirected topology,and it is extended to the Coleader topology.On the basis of the negative gradient control law,a continuous perturbation term including rotation matrix and time-varying parameters is added,and it is proved by Barbalat’s lemma that the closed-loop rigid formation system has a unique set of equilibrium states.2.For the global rigid formation of n agents,the structure of three agents is extended by the Henneberg construction method,that is,the structure of adding one node and two edges;similar to the design of three agents,the movement of each agent A perturbation term including rotation matrix and time-varying parameters is added to the direction based on the negative gradient control law,and it is proved that the closed-loop rigid formation system has a unique set of equilibrium states.3.Experiment verification of robot based on ROS system.Firstly,a 3D car is built in Gazeble,a 3D physical simulation platform,to verify the theoretical algorithm proposed in this paper.Then use Raspberry Pi,Dashgo robot,local area network,UWB positioning equipment,etc.to build a multi-robot platform,and deploy the control algorithm to each robot for verification.