Optimal control for multi-agent system based on local information

The current study on the stability for group gathered only consider the same-agent problem, and work out the individual composition of multi-agent system model based on the optimal controller. In this model, the agent has the local information for the environment and the target point information, and when the individuals have long distance they will attract each other, on the contrary, they will mutually exclusive. When the intelligent individual has observable chains, the aggregation of the system has stability and gather to the center of a circle in a certain period of time. The design of the optimal controller in order to ensure that all individuals eventually gathered together in a group surrounding the center and campaign together, the aggregation can be measured, the simulation result descripts the validity of the method.