Coordinate-free distributed control algorithm in multi-agent system

The invention discloses a coordinate-free distributed control algorithm in a multi-agent system. Relates to the field of distributed control in multi-agent system control. The invention provides a coordinate-free distributed positioning and surround control algorithm for a vehicle cluster. A multi-target center estimator algorithm is designed to carry out center estimation, and a controller algorithm is designed according to the estimated target center to control a plurality of trolleys to carry out surrounding motion. The distributed positioning and surrounding algorithm provided by the invention is in a coordinate-free form and does not need any position information, so that a global coordinate system does not need to be unified any more, and local coordinates of different vehicles are not aligned. The invention measures the relative orientation with respect to the target taking into account only part of the vehicle. Although, the distributed positioning algorithm provided by the invention still ensures tha