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| Cooperative Competitive Formation Based on MAS |
| WANG Xiao, JI Zhijian
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| School of Automation,Qingdao University, Qingdao 266071,China |
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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.
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Received: 13 July 2020
Published: 28 December 2020
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