An inner and outer brain model used in multi-agent distributed formation control

An inner and outer brain model for the multi-agent system used in distributed formation control is proposed, where the inner brain of each follower is set up according to state information about itself and adjacent agents, the outer brain is set up in all of the agents except leader combined with topology structure multiple agents information. The interaction information about agents will be reduced by adopted the model, and the anti-interference ability is also improved on the system. Experiment environment is consisted by one leader and four followers, and results show that 10.00% (compared with the Traditional algorithm, Ring topology), 25.00% (compared with the Traditional algorithm, Mixed type topology), 43.75% (compared with the Traditional algorithm, Net topology) information transform amount is reduced and the effect of control performance keep as original on the basis of the classical formation control effect.