Abstract：Based on the natural phenomena of shepherd dogs and sheep, this paper studies the formation problem of a class of first-order multi-agent systems with cooperation competition topology. For each agent, a distributed formation control algorithm based on leader-follower method is designed to realize the formation movement of cooperative competitive interaction network. A sufficient condition is derived by using the structure balanced independent strongly connected components (SBiSCCs) to ensure that all agents move in cooperative competitive formation in a distributed manner. Finally, the theoretical results are verified by numerical simulation. The results show that the algorithm can ensure that a group of agents can achieve the desired formation and realize the cooperative competitive formation movement.
王潇, 纪志坚. 基于MAS的合作—竞争编队研究[J]. 复杂系统与复杂性科学, 2021, 18(1): 8-14.
WANG Xiao, JI Zhijian. Cooperative Competitive Formation Based on MAS. Complex Systems and Complexity Science, 2021, 18(1): 8-14.
关永强, 纪志坚, 张霖,等. 多智能体系统能控性研究进展[J]. 控制理论与应用, 2015,(4):421431.Guan Yongqiang, Ji Zhijian, Zhang Lin, et al. Research progress on controllability of multi-agent systems [J]. Control theoryand application, 2015(4): 421431.
[2]
Guan Y Q, Wang L. Controllability of multi-agent systems with directed and weighted signed networks[J]. Systems & Control Letters, 2018, 116:4755.
[3]
Reynolds C W. Flocks, herds and schools: a distributed behavioral model[J]. ACM Siggraph Computer Graphics, 1987,21(4):2534.
[4]
Liu Y, Geng Z. Finite-time formation control for linear multi-agent systems: a motion planning approach[J]. Systems & Cont-rol Letters, 2015, 85:5460.
[5]
Dong L F, Chen Y Z, Qu X J. Formation control strategy for nonholonomic intelligent vehicles based on virtual structure and consensus approach[J]. Procedia Engineering, 2016, 137:415424.
[6]
Atrianfar H, Haeri M. Flocking of multi-agent dynamic systems with virtual leader having the reduced number of informed ag-ents[J]. Transactions-Institute of Measurement and Control, 2013, 35(8):11041115.
[7]
王潇, 纪志坚. 基于MAS的无人机新型编队算法[J].复杂系统与复杂性科学,2019,16(2):6068.Wang Xiao, Ji Zhijian. A new UAV formation algorithm based on MAS [J]. Complex Systems and Complexity Science, 2019,16(2): 6068.
[8]
Oh K K, Park M C, Ahn H S. A survey of multi-agent formation control[J]. Automatica, 2015,53(C):424440.
[9]
Dong J G. Flocking under hierarchical leadership with a free-will leader[J]. International Journal of Robust and Nonlinear Control,2013,23(16):18911898.
[10]
张晓琴,黄玉清,刘刚.基于改进的领导—跟随者编队算法研究[J].计算机工程与设计,2010,31(11):25472549.Zhang Xiaoqin, Huang Yuqing, Liu Gang. Research on improved leader follower formation algorithm [J]. Computer Engineering and Design, 2010,31(11): 25472549.
[11]
He L L, Bai P, Liang X L, et al. Feedback formation control of UAV swarm with multiple implicit leaders[J]. Aerospace Ence and Technology, 2018, 72:327334.
[12]
杨怡泽,杨洪勇,刘凡.离散时间多智能体系统群集运动的快速收敛[J].复杂系统与复杂性科学,2018,15(1):5661.Yang Yize, Yang Hongyong, Liu Fan. Fast convergence of swarm motion of discrete-time multi-agent systems [J]. Complex Systems and Complexity Science, 2018,15(1): 5661.
[13]
Guan Y Q, Ji Z J, Zhang L, et al. Decentralized stabilizability of multi-agent systems under fixed and switching topologies[J]. Systems & Control Letters, 2013, 62(5):438446.
[14]
王鹏,张振峰,曹明川,等.基于一致性多无人机编队的研究现状与发展趋势[J].舰船电子工程,2017,37(9):19.Wang Peng, Zhang Zhenfeng, Cao Mingchuan, et al. Research status and development trend of multi UAV formation based on consistency [J]. Ship Electronic Engineering, 2017,37(9): 19.
[15]
Yu W W, Chen G R, Cao M. Distributed leader-follower flocking control for multi-agent dynamical systems with time-varyi-ng velocities[J]. Systems & Control Letters, 2010, 59:543552.
[16]
Liu X Z, Ji Z J, Hou T, et al. Decentralized stabilizability and formation control of multi-agent systems with antagonistic interactions[J]. ISA Transactions,2019,89:5866.
[17]
Lu W T, Dai M X, Xue F Z. Antagonistic formation motion of cooperative agents[J]. Chinese Physics B, 2015, 24(2):101104.
[18]
Horn R A, Johnson C R. Matrix Analysis[M]. New York: Cambridge University Press,1985.
[19]
Liu H Y, Xie G M, Wang L. Containment of linear multi-agent systems under general interaction topologies[J]. Systems & Control Letters, 2012, 61(4):528534.
