摘要：According to the viewpoints of swarm dynamic, this paper elaborates that introducing the target tracking control and global asymptotic stability respectively of the two kinds of different swarm systems with aggregation functions, the study of multi-agent systems is start with two aspects: one hand is starting off from formation coverage search, but on the other hand, researching the character of high noise inhibiting ability and stability. By use of the swarm dynamical models, meanwhile, considering the interactions among agents, based on the artificial potential functions (APFs) and Newton-Raphson iteration updating behavior rules, theoretical analysis and simulation experimental studies results are presented to illustrate the performance and viability of the proposed algorithm which is robust with respect to the system uncertainties and additive disturbances.
