Wu Zhengping Wang

In this paper, a dynamic multi-mobile agent with quadratic integral is studied to follow the leader to obtain group formation in dynamic topology. By introducing smooth adjacency matrix and smooth potential field function, a design method of smooth controller for multi-mobile agent group formation is proposed. Using the existing group theory and classical Lyapunov stability theory, the stability of group motion of multi-mobile agent system is proved. The analysis shows that when the agent network switches, the control output obtained by this scheme is still smooth, and finally the agent group obtains the group movement under the guidance of the leader. A computer simulation example verifies the conclusion.

Author: School of Electrical Information, Three Gorges University; School of Science, Three Gorges University;

Keywords: graph theory, dynamic topological structure of cluster head of multi-mobile agent system

Funds: Key Support Project of Hubei Provincial Department of Education (D2008 1306), Natural Science Foundation of Hubei Province (2007ABA36 1), Doctoral Program Foundation of Three Gorges University (2007 1203).

Classification number: TP 13

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In essence, clustering is a bionic method inspired by nature, and clustering behavior exists widely in nature. These different forms of group mobility are all population aggregates in a broad sense. Scholars at home and abroad have done a lot of fruitful research work on the theory of group movement in intelligent systems [1~9]. This study considers the formation control of multi-mobile agents with leaders in dynamic network topology.