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

Kaixin Zhao, Chaoying Zhang, Yaping Dai*, Xuemei Yang, Kaoru Hirota

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

Abstract

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.

Original languageEnglish
Publication statusPublished - 2017
Event5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017 - Beijing, China
Duration: 2 Nov 20175 Nov 2017

Conference

Conference5th International Workshop on Advanced Computational Intelligence and Intelligent Informatics, IWACIII 2017
Country/TerritoryChina
CityBeijing
Period2/11/175/11/17

Keywords

  • Distributed Formation Control
  • Inner and Outer Brain
  • Multi-agent System
  • Topology Structure

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