Distributed Control for Circumnavigating Multi-Target by a Group of Agents

DOI

10.2991/amsm-16.2016.5How to use a DOI?

Keywords

multi-agent systems; coordination control; decentralized estimator; uniform circumnavigation

Abstract

In this study, a distributed cooperative control law is proposed to attain multi-agent uniform circumnavigation around moving targets. First, we construct a decentralized estimator for each agent to estimate the geometric center of the targets. Then, we develop the distributed control strategy by means of the estimator, which guarantees that the agents preserve the desired distance to the target center and rotate around the targets at uniformly spaced angles. In particular, the topology structure of the agents only needs to be a tree rather than the ring. Thus, the control scheme is more feasible and robust and requires less information. The convergence of the proposed algorithms is demonstrated based on Lasalle's invariance principle and algebraic graph theory. Several numerical simulations are provided to validate the results.

Copyright

© 2016, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Lingxia Cui
AU  - Shihua Chen
AU  - Lei Wan
PY  - 2016/05
DA  - 2016/05
TI  - Distributed Control for Circumnavigating Multi-Target by a Group of Agents
BT  - Proceedings of the 2016 International Conference on Applied Mathematics, Simulation and Modelling
PB  - Atlantis Press
SP  - 16
EP  - 21
SN  - 2352-538X
UR  - https://doi.org/10.2991/amsm-16.2016.5
DO  - 10.2991/amsm-16.2016.5
ID  - Cui2016/05
ER  -