Abstract
This paper studies a time-varying formation control algorithm based on the unmanned intelligent vehicle (UIV) system. First, modeling the multi-agent system. Reference [4] gives the time-varying formation control algorithm of multi-agent under changing communication topology and necessary and sufficient conditions for the establishment of the algorithm. The simulation verifies the effectiveness of the algorithm. On this foundation, based on the consensus theory, this paper proposes a formation algorithm in the case of a formation reference center movement and realizes multiple time-varying formations of a multi-agent system through simulation. The simulation results show that the algorithm proposed in this paper can quickly realize formation under different formation requirements and the algorithm has better control effect and robustness.
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