Aiming at the problem of formation control, a hybrid hierarchical distributed formation structure based on the virtual leader, centralized, and distributed structure is proposed and named active agent AA. Based on the established formation structure, a time-varying formation consensus control model and the changed model with no collision condition, which combined the formation flight problem with the collision avoidance problem are constructed, simplified the structure of the controller, then theoretically analyzed the consensus conditions of non-AA agents, and AA agent, respectively, obtained the necessary conditions of consistent convergence, and finally, simulated a formation with one virtual leader and four followers; the simulation results show that the control law designed in this study achieved the velocity consensus of non-AA agents and the location consensus of the AA agent; it also shows that the hybrid hierarchical distributed formation structure proposed in this study is reasonable, effective, and achievable.

中文翻译：

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混合分层分布地层的时变共识控制方法

针对编队控制问题，提出了一种基于虚拟领导、集中式、分布式结构的混合分层分布式编队结构，命名为主动代理AA。在已建立的编队结构的基础上，结合编队飞行问题和避碰问题，构建了时变编队一致性控制模型和无碰撞条件变化模型，简化了控制器结构，并对一致性进行了理论分析。非 AA 代理和 AA 代理的条件分别得到一致收敛的必要条件，最终模拟出一个虚拟领导者和四个跟随者的编队；仿真结果表明，本研究设计的控制律实现了非AA智能体的速度一致性和AA智能体的位置一致性；也说明本研究提出的混合分层分布式编队结构是合理、有效、可实现的。