S. I. Tomashevich

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Multiagent systems are now finding increasingly wide applications in various engineering fields such as energy, transportation, robotics, aviation and others. There are two main aspects to be focused on when organizing multiagent systems: the dynamics of the agents themselves and the ways of their interaction. This interaction is determined by the structure of information connections between agents. Thus, there are several key points of multiagent systems study: the dynamics of individual agents and shape of the information graph. Formation dynamics, in general, is determined by a set of properties of agents and connectivity graph. The paper deals with the relationship between dynamics of agents and Laplace matrix, which is used to set the graph connections. The present research is based on the results given in the known paper by A. Fax and R. Murray (IEEE Trans. AC, 2004). An illustrative example is given, and the application problem of studying the formation dynamics consisting of the group of quadrocopters is presented. Information exchange between agents is determined in the paper by means of the conventional set of graphs. The paper presents an interpretation of the stability conditions and the method of system performance improvement based on these conditions. Motion of quadrocopters group along the flight height is used as an example for methodology application. The simulation results demonstrate the basic dependencies between the information graph shape (and, consequently, the eigenvalues of the Laplacian, which describes this graph) and formation stability. Simulation and consideration of Nyquist diagram connection with the key points give an indication of the system stability and take steps to change the control laws. Necessary conditions for the formation stability are obtained on the basis of this research method. Research result makes it possible to create local control laws for agents to ensure the stability of motion in the selected structure of information connections. It is shown that the local control law can be adjusted by classical calculation methods ensuring prescribed stability margins in view of the Nyquist curve type and location of the closest points which should not be covered by it.

Keywords: multiagent systems, Laplacian, quadrocopter

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