1. 毕业设计（论文）的内容和要求

basic requirements

this subject investigates formation control of multi-agent systems. most of existing information control protocols need to utilize position information and velocity information of an agent. however, in real applications, it is quite difficult to measure the velocity information owing to the technological limitations and environmental disturbances. therefore, it is important to consider the consensus tracking problems of second-order multi-agent systems without velocity measurements. consider the multi-agent systems based on the particle model, under the assumption that the partial information (such as velocity) of the agent cannot be observed in real time, an observer for the agent is designed to estimate the (velocity) unknown information of the agent. the classical consensus-based formation control protocol based on the observers is introduced which realizes the formation for multi-agent systems. moreover, the fixed topology and switched topology are designed, respectively for the multi-agent systems, and the formation control algorithm can be verified by matlab.

2. 参考文献

[1] olfati-saber r, fax a, murray r m. consensus and cooperation in networked multi-agent systems[j]. proceedings of the ieee, 2007, 95(1): 215-233.

[2] ren w, beard r w. distributed consensus in multi-vehicle cooperative control[m]. springer-verlag, london, 2008.

[3] hong y, chen g, bushnell l. distributed observers design for leader-following control of multi-agent networks[j]. automatica, 2008, 44(3): 846-850.

3. 毕业设计（论文）进程安排