Affiliation:
1. Belgorod State University
2. Vladimir State University
Abstract
The use of a formation consisting of adaptive autonomous mobile agents allows solving a wide range of tasks that are often beyond the capabilities of individual agents. A multi-agent formation is a complex high-order dynamic system, so analyzing the stability of such a system is a complex task. At present, the problem of estimating the stability of a formation formed by substantially nonlinear high-order agents with variable dynamic parameters is not sufficiently considered. This task is particularly important for a formation that is affected by complex unstable environmental conditions, in particular for the formation of unmanned aerial vehicles (UAVs). A method for analyzing the stability of formations of nonlinear agents with different types and orders of transfer function has been developed for studying information exchange in UAV networks. The new approach is based on the use of the Popov frequency criterion and the piecewise linear approximation of the hodograph. A computational experiment was performed to analyze the stability of a formation with transfer functions of various types and orders from the 1st to the 10th. The conducted studies revealed a significant difference in the calculated boundary coefficients of formation stability in the linear and nonlinear modes, which confirms the need to analyze the nonlinear stability under the influence of strong destabilizing influences on the formation.
Publisher
Revista de la Universidad del Zulia, Universidad del Zulia
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