4.7 Article

Distributed Entrapping Control of Multiagent Systems Using Bearing Measurements

期刊

IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 66, 期 12, 页码 5696-5710

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3046714

关键词

Shape; Trajectory; Sensors; Robot sensing systems; Observability; Multi-agent systems; Observers; Bearing measurements; bearing observability; distributed control; target entrapping; time-varying formation control

资金

  1. National Key R&D Program of China [2018YFB1702100]
  2. Natural Science Foundation of China [62025305, 61633017, 61922058, 61933009]
  3. Program of Shanghai Academic Research Leader [19XD1421800]
  4. Natural Science Foundation of Shanghai Municipality [18ZR1419900]
  5. Research Grants Council of Hong Kong [CityU-11206817]

向作者/读者索取更多资源

This article examines the distributed entrapping control problem of multiple mobile agents using bearing and velocity measurements. A time-varying entrapping formation with a prescribed shape is adopted, and a design framework integrating various components is proposed. The stability of the system is guaranteed if the bearing observability condition is satisfied, and simulations confirm the effectiveness of the proposed framework.
This article studies the distributed entrapping control problem of multiple mobile agents based on bearing and velocity measurements. A time-varying entrapping formation with a prescribed shape, which is elastic and rotational with respect to the target is adopted. Such a formation allows agents to move even in restricted areas while still entrapping the target as a whole. To achieve the entrapping formation based on bearing measurements, a leader-follower structure is adopted, and a design framework integrating formation shape observers, relative position estimators, and distributed controllers is proposed. The rigorous stability analysis of the overall system is also given. It is shown that the stability of the closed loop system is guaranteed if its bearing observability is satisfied. Since the desired formation is determined by the trajectories of the leaders, we characterize the sufficient conditions on the trajectories of the leaders such that the bearing observability of the closed loop system is always satisfied, and the estimation errors and the formation tracking errors converge to zero asymptotically. Simulations verify the effectiveness of the proposed framework.

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