Tham khảo tài liệu 'fuzzy systems part 12', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Triangle Formation of Multi-Agent Systems with Leader-Following on Fuzzy Control 211 where z0 is the position of agent 0 and V0 is its velocity f . . . is piecewise continuous in t and locally Lipschitz in z0 and V0 . Other agents are the followers with the variable position z x yi i 1 2 2 and the velocity vi i 1 2 . Fig. 1 illustrates this directed formation control system pị is the angle between north and the direction of agent i as seen from agent i 1 agent 0 being identified with agent 3 here and subsequently ri is the current distance between agent i and agent i 1 di is the distance that ought to be maintained between agent i and i 1 ũị is the internal angle of the triangle formed by the three agents at agent i for i 0 1 2 . In order to control the formation of three agents we shall make two standing assumptions. First in the triangle it is assumed that for i j k the triangle inequality di d j dk holds thus the steady state to which the formation is supposed to tend is well-defined as a triangle. Second it is assumed that following agent i just knows the positions and velocities about itself and its neighbors. In Fig. 1 the summation of the internal angle of the triangle Ũ0 1 2 n holds and fX- . X - P 1 We assume the control law of agent i can only use its local information. The formation control problem is to design the directed control law by using local information such that three agents achieve the nominated formation . lim r dị i 0 1 2 t x with the common desired velocity lim vi v0 i 1 2 . t x Manuscript must contain clear answers to following questions What is the problem What has been done by other researchers and where you can contribute What have you done Which method or tools you used What are your results What is new and good what is not good Future research 3. Fuzzy logical controller for the formation of multi-agent systems In this section we present a Fuzzy logical control law for the formation of heterogeneous three-agent system. Following .
