Multi-agents formation control method based on space confrontation
Aiming at the problem of time-varying formation maneuvering and affine transformation control for multi-agents system(MAS)with nonlinear second-order integrator dynamics model in three-dimensional(3D)space confrontation environment,a strategy for MAS time-varying formation maneuvering and formation transformation is proposed,which is designed to suppress external disturbances.Firstly,by analyzing the utility of common formations in spatial adversarial environments,a 24-agents spatial configuration is devised based on stress matrix and leader-follower strategy.Through flexible affine transformation formations,this configuration can adapt to other formations,thereby enhancing the spatial resilience efficiency of MAS formations in adversarial environments.Secondly,leveraging consistency theory,sliding mode theory and robust control,a distributed robust consistency tracking controller is designed using the time-varying formation stress matrix.This controller is designed to address scenarios where MAS time-varying formations are subject to external unknown disturbances,ensuring precise coordinated tracking of the leader during affine transformation and continuous maneuvering.Thirdly,the stability of 3D MAS time-varying formation continuous maneuvering and affine transformation in the presence of external unknown disturbances is proven by constructing a Lyapunov function.Finally,simulation experiments demonstrate that the proposed controller can achieve precise coordinated tracking during maneuvering and formation transformation for time-varying formations.
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