A high-order bilateral consensus robot formation control protocol for multi-agent systems is proposed in this paper. Considering the relationship between the state of the information exchange topology and derivatives, a third-order bilateral consistency protocol is presented and is extended it to a higher order bilateral consensus protocol. First, sufficient conditions for the third-order multi-agent system are given to achieve the bilateral consensus control protocol, and the system’s asymptotical stability is also achieved by adjusting the feedback system gain parameters. Then, by further studying the cohesive relationship between each state variable of the third-order protocol and the gauge transformation, the sufficient conditions of the higher order system are also provided. Finally, by applying the third-order control protocol to the control of multi-robot formation, the general control scheme of robot formation is given and the control of robot formation is successfully achieved.

中文翻译：

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基于高阶双边共识的多机器人编队控制

本文提出了一种用于多智能体系统的高阶双边共识机器人编队控制协议。考虑到信息交换拓扑的状态与派生类之间的关系，提出了一种三阶双边一致性协议，并将其扩展为更高阶的双边共识协议。首先，给出三阶多智能体系统实现双边共识控制协议的充分条件，同时通过调整反馈系统增益参数来实现系统的渐近稳定性。然后，通过进一步研究三阶协议各状态变量与规范变换之间的内聚关系，也给出了高阶系统的充分条件。最后，