Abstract：Based on the natural phenomena of shepherd dogs and sheep, this paper studies the formation problem of a class of first-order multi-agent systems with cooperation competition topology. For each agent, a distributed formation control algorithm based on leader-follower method is designed to realize the formation movement of cooperative competitive interaction network. A sufficient condition is derived by using the structure balanced independent strongly connected components (SBiSCCs) to ensure that all agents move in cooperative competitive formation in a distributed manner. Finally, the theoretical results are verified by numerical simulation. The results show that the algorithm can ensure that a group of agents can achieve the desired formation and realize the cooperative competitive formation movement.
王潇, 纪志坚. 基于MAS的合作—竞争编队研究[J]. 复杂系统与复杂性科学, 2021, 18(1): 8-14.
WANG Xiao, JI Zhijian. Cooperative Competitive Formation Based on MAS[J]. Complex Systems and Complexity Science, 2021, 18(1): 8-14.
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