Group Motion Control of Multi-agent Systems Based on Complex Network

摘要

Multi-Agent Systems (MAS) are, nowadays, an important research area within Robotics and Artificial Intelligence. Motivated by recent advances in synchronization theory of complex dynamical network, this paper develops a general methods of controller design for formation reaching and group motion controlling of the MAS. A novel motion model of MAS is presented at first. Based on this model, the design method of decentralized controller for each agent is investigated. The stability properties of the system is also analyzed in detail. In this control scheme the topology of the control interconnections is fixed and invariant. The control policy ensures that all agents eventually move in group formation with desired group motion dynamics while at same time avoid collisions. In the end, the validity of this scheme is supported by computer simulation.