Finite-time rotating target-encirclement motion of multi-agent systems with a leader

Mo, Lipo; Yuan, Xiaolin; Li, Qin

doi:10.1016/j.cjph.2018.08.005

Cited by 13 publications

(14 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In [15], Zhang et al presented a distributed encirclement control method and achieved the circular formation for multiagent systems with multiple dynamic targets, where a target can be tracked by only one agent. Mo et al proposed a finite-time distributed rotating encirclement control scheme for multiagent systems in [16], where the agents corresponds to the targets one by one. For the leader-follower case, a finite-time rotating target-encirclement control was proposed in [20], where the target's information can be only obtained by the leader.…”

Section: Introductionmentioning

confidence: 99%

Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems With Nonconvex Input Constraints

Zhang

Ling

2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

This paper is devoted to the distributed finite-time rotating encirclement control problem of multiagent systems with nonconvex input constraints. Three distributed finite-time estimators are designed to estimate the targets' geometric center, the reference polar radius, and the reference polar angular. Then, the estimated values are employed to get the reference trajectory for each agent, which guarantees that the references can uniformly distribute on a circle and have the same angular velocity. The distributed finite-time control laws are proposed for all agents to drive their positions tracking reference trajectories by introducing a constraint operator to cope with the nonconvex input constraints, which guarantees that the control inputs can invariably lie in the corresponding nonconvex constraint sets. A numerical simulation is performed to demonstrate the correctness and effectiveness of the proposed control scheme.INDEX TERMS Encirclement control, nonconvex input constraints, finite-time tracking, distributed estimator, multiagent systems.

show abstract

Section: Introductionmentioning

confidence: 99%

Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems With Nonconvex Input Constraints

Zhang

Ling

2019

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…In [16], a distributed encirclement controller was proposed for the multi-agent multi-target systems to achieve the circular formation. With specific communication topology between agents and targets, a finite-time distributed rotating encirclement control scheme was presented for multi-agent systems in [17]. In [19], a distributed finite-time rotating encirclement control was put forward for the one-order multi-agent systems with nonconvex input constraints.…”

Section: The Distributed Collective Rotatingmentioning

confidence: 99%

“…In [19], a distributed finite-time rotating encirclement control was put forward for the one-order multi-agent systems with nonconvex input constraints. In [20] and [21], Mo et al studied the finite-time rotating target-encirclement problems for the leader-following firstorder and fractional-order multi-agent systems with only one target.…”

Section: The Distributed Collective Rotatingmentioning

confidence: 99%

Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints

Zhang

Ling

2020

IEEE Access

Self Cite

View full text Add to dashboard Cite

This paper investigates the collective multi-target rotating encirclement formation problem of second-order multi-agent systems, where the inputs are constrained in nonconvex sets. The objective requires that all agents rotate around targets' geometric center with the desired radius and angular velocity. Firstly, the targets' geometric center and rotating radius are calculated by two distributed fixed-time estimators based on the neighbors' information. Then, with the complex domain theory, we construct two consensus vectors complying with the conditions of the multi-target rotating encirclement formation, and propose a distributed multi-target rotating encirclement control scheme to force all agents achieve the desired formation structure. Moreover, a sufficient condition is provided for choosing design parameters with the aid of Lyapunov theory. In order to handle the problem caused by the nonconvex input constraints, a constraint operator is introduced to ensure all control inputs always lie in the corresponding nonconvex sets. Finally, numerical simulation results are presented to demonstrate the effectiveness and correctness of our theoretical control scheme. INDEX TERMS Rotating encirclement control, nonconvex input constraints, distributed estimator, second-order multi-agent systems.

show abstract

“…investigated the collective rotating motions of second‐order MASs, including the rotation consensus and rotation formation problems [20, 21]. In addition, Mo and Yu [22] dealt with the finite‐time distributed rotating encirclement control problem of MASs. Despite the fact that circular rotating control problems were investigated in the above references, all of these studies assumed that the rotating centres of all agents converge to a fixed point, which implies that the composite rotating motion has yet to be considered.…”

Section: Introductionmentioning

confidence: 99%

“…The main contributions of this paper are that the quasi‐composite rotating formation control problem is first solved by proposing a novel control protocol and analysing the matrix eigenvalues of the closed‐loop system. Different from [20–22], where only the distributed rotating formation control of MASs was investigated, and also different from [23, 24], in which only the distributed composite‐rotating consensus problem of second‐order MASs was investigated, the quasi‐composite rotating formation control of second‐order MASs was investigated herein. It is clear that the issues considered in [20–24] can all be regarded as special cases of this paper.…”

Section: Introductionmentioning

confidence: 99%

Finite-time rotating target-encirclement motion of multi-agent systems with a leader

Cited by 13 publications

References 18 publications

Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems With Nonconvex Input Constraints

Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems With Nonconvex Input Constraints

Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints

Quasi‐composite rotating formation control of second‐order multi‐agent systems

Contact Info

Product

Resources

About