Multi-agent Circle Formation Tracking Control Under Inaccurate Measurement

Coordination control of multi-agent systems has broad application prospects in fields such as agriculture,environment,logistics and military,and is a hot research topic in the current system control academia.Formation control is one of the important research directions in the field of multi-agent coordinated control.In this paper,we study the distributed circle formation tracking control problem of second-order integrator multi-agent systems with unknown state information.The research results and contributions of this paper are as follows:1)For the second-order integrator multi-agent systems,considering the task objective of the circle formation problem,new nonlinear multi-agent systems based on the moving local coordinate frames are established.The state information of the systems does not depend on the measurement information in the global coordinate frame,but on the measurement and calculation of the local information of itself and its neighbors.The formation control protocols designed under this system is totally distributed.2)For the multi-agent systems with second-order integrators as the nodes,this paper studies the problem of circle formation control when the target acceleration information cannot be obtained.First,a distributed formation tracking control protocol based on sliding mode control is proposed,which only needs to obtain the relative position and velocity information of the target and agent’s two neighbors.Secondly,a distributed control protocol with adaptive control law is designed to deal with the situation that the upper bound of target acceleration cannot be obtained.3)This paper analyzes the finite-time distributed circle formation problem of systems with second-order integrator nodes.A distributed formation tracking control protocol is proposed,it does not depend on the target acceleration information,and calculates the estimated convergence time of the system through analysis,which ensures the orderly execution of tasks in all links of the multi-agent systems,including but not limited to formation tracking tasks.4)This paper studies the circular formation problem when the target velocity information cannot be obtained,and divides the problem into into three specific cases.First of all,in view of the situation that some agents cannot obtain the relative centripetal velocity information,a distributed finite-time formation tracking control protocol is designed,it only depends on the position and angular velocity information,and analyzes the estimated convergence time of the system.In particular,the control protocol can still achieve circular formation in the case that all agents cannot obtain the relative centripetal velocity information.Secondly,in view of the situation that some agents cannot obtain angular velocity information,a distributed finite-time formation tracking control protocol is proposed.At the same time,this protocol does not rely on the real-time acceleration information of the target,and estimates the convergence time of the system for different communication topologies.Finally,for the complex situation of both,different agents can adopt the above two control protocols according to their own needs.