4.7 Article

Moving Target Surrounding Control of Linear Multiagent Systems With Input Saturation

期刊

出版社

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2020.3030706

关键词

Task analysis; Multi-agent systems; Sensors; Mobile robots; Synchronization; Protocols; Observers; Distributed estimation; input saturation; multiagent systems (MASs); surrounding control

资金

  1. National Natural Science Foundation of China [U1713203, 51721092, 61751303, 51729501]
  2. Hong Kong Research Grants Council through GRF [CityU11200317]
  3. Guangdong Innovative and Entrepreneurial Research Team Program [2014ZT05G304]
  4. Program for Core Technology Tackling Key Problem

向作者/读者索取更多资源

This article proposes a two-stage surrounding control algorithm for hunting a moving target. By utilizing algebraic graph theory and low gain feedback technique, distributed controllers are designed to effectively drive multiple agents to encircle the moving target. The effectiveness of the proposed control algorithm is validated through numerical simulations and experiments.
Formation control finds broad applications in numerous fields, such as cooperative detection, surveillance, transportation, and disaster rescue. In this article, aiming at hunting a moving target, a two-stage surrounding control algorithm is proposed for linear multiagent systems subject to input saturations. An adaptive distributed observer is developed for each agent to reconstruct the target's position. With the assistance of the algebraic graph theory and low gain feedback technique, distributed controllers are designed to drive the agents to encircle the moving target with a fixed radius and evenly distributed phase angles. Finally, both numerical simulations and experiments are conducted to verify the effectiveness of the proposed control algorithm.

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