This paper proposes a novel cooperative control method based on cyclic pursuit algorithm and fuzzy control idea, to accomplish reconfiguration of multi-agent formation in 3D space. The idea is to use nonlinear cyclic pursuit control within the formation’s longitudinal motion plane, and use fuzzy control-based piecewise proportional derivative (PD) controller for cooperative control in the normal direction of motion. It is called cyclic pursuit-fuzzy PD control method. The control process is divided into different fuzzy sets, for which different control coefficients are set. The paper will present two control strategies to comparatively analyze the performances of control method. As the results demonstrate, the proposed method improves the performance and accuracy of formation reconfiguration control, avoids the inter-member collisions and enhances the system stability.

提出了一种基于循环跟踪算法和模糊控制思想的协同控制方法，以完成3D空间中多智能体形成的重构。想法是在地层的纵向运动平面内使用非线性循环追踪控制，并在运动的法向方向上使用基于模糊控制的分段比例微分（PD）控制器进行协同控制。这被称为循环跟踪-模糊PD控制方法。控制过程分为不同的模糊集，为此设置了不同的控制系数。本文将提出两种控制策略，以比较分析控制方法的性能。结果表明，该方法提高了地层重构控制的性能和准确性，