Formation Control for Multi-agent System with Topology Reorganization

摘要

This paper proposes a decentralized coordination control scheme for formation control with topology reorganization when there is someone damaged agent. Suppose that one agent is damaged and become an obstacle in a multi-agent dynamic formation system with static topology. An algorithm is provided to reorganize a breakdown formation with a damage agent. In this algorithm, a simple collective potential function is presented to make agents form a formation in a local minimum and avoid obstacles respectively. Some new methods are used to improve the efficiency of topology reorganization. Lyapunov stability theorem is applied to prove stability of the dynamic system. Finally, some simulation results are provided to demonstrate the efficiency of the algorithm to cyclic topology.