Distributed Optimization And Application Of Multi-Agent Systems With Constrained

In this paper,we study the first-order multi-agent system model.At the same time,it discusses the characteristics of multiple agents with certain constraints under this model in detail,proposes some new control strategies,and combines with theoretical analysis and numerical simulation,which proves that the model has a good stability under the new control strategy.The following work has been done mainly in three aspects:First,the distributed optimization problem of the system with communication delay is discussed.A novel control strategy without virtual leader is proposed based on the zero-gradient-sum algorithm,which theoretically proves that all agents can reach the same state quickly,the global cost function is minimized in a distributed way.Second,the study of the application of multiple agents with regional constraints is considered.Aiming at the formation problem of multi-agents,the formation under certain regional constraints is paid more attention to discuss.Besides,a controller is proposed,and the controller does not depend on the state of the virtual leader,so it has good robustness.It is theoretically proved that all agents can enter the target area and achieve the target formation under the action of its controller.Thirdly,the first-order system is further studied to achieve formation control within a certain time.In terms of practical application of multi-agent formation,the formation problems with certain constraints and timeliness,which are more practical to the research on formation.In view of this,we propose a new control strategy that enables each agent to enter the target area and achieve the target formation within a limited time under the action of its control strategy.