The Evolution Formation for Multi-agent System
Hao Zhang, Zhi Zhou Li · 2018
In this paper, we research the problem of the formation evolution for multi-agent discrete-time systems. On the premise of solving the fixed-point aggregation problem by using pinning control, first a synchronization control algorithm for formation motion keeping is proposed based on the principle of motion decomposition. Then, we have a target to deal with a simple problem that when we only add a new agent every-time, how to make the formation extending meanwhile the other agents will be invariable. Besides, in order to minimize the communication cost, a method using matrix disassembly is proposed as the switching rule for the communication topological graph. The way we proposed can solve the formation evolution problem effectively without the change of initial communication channel. As the original communication channels are all valid, the utilization rate is the highest and the channel added is the least, so the communication consumption is minimal. Finally, the simulation results illustrate the algorithm is effective.