Cooperative enclosing control for multiple moving targets by a group of agents
In this paper, the enclosing control problem of second-order multi-agent systems is considered, where the targets can be either stationary or moving. The objective is to achieve an equidistant circular formation for a group of agents to enclose a team of targets. In order to do so, we first introduc...
| Main Authors: | , , |
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| Format: | Journal Article |
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Taylor & Francis
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/15183 |
| _version_ | 1848748824601821184 |
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| author | Shi, Y. Li, R. Teo, Kok Lay |
| author_facet | Shi, Y. Li, R. Teo, Kok Lay |
| author_sort | Shi, Y. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | In this paper, the enclosing control problem of second-order multi-agent systems is considered, where the targets can be either stationary or moving. The objective is to achieve an equidistant circular formation for a group of agents to enclose a team of targets. In order to do so, we first introduce a formal definition explaining certain basic properties of the exploring relation between the agents and the targets.We then construct the estimator of the centre of the targets, which is used to build the control protocol to achieve equidistant circular enclosing. Using a Lyapunov function and Lasalle’s Invariance Principle, the convergency of the estimator and control protocol are, respectively, established. We then construct a smooth function to approximate the discontinuous term in the estimator. Finally, the simulations for stationary targets and moving targets are given to verify the validity of the results obtained. |
| first_indexed | 2025-11-14T07:11:11Z |
| format | Journal Article |
| id | curtin-20.500.11937-15183 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:11:11Z |
| publishDate | 2015 |
| publisher | Taylor & Francis |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-151832017-11-02T07:27:44Z Cooperative enclosing control for multiple moving targets by a group of agents Shi, Y. Li, R. Teo, Kok Lay exploring matrix equidistant circular enclosing multi-agent systems distributed control central estimator In this paper, the enclosing control problem of second-order multi-agent systems is considered, where the targets can be either stationary or moving. The objective is to achieve an equidistant circular formation for a group of agents to enclose a team of targets. In order to do so, we first introduce a formal definition explaining certain basic properties of the exploring relation between the agents and the targets.We then construct the estimator of the centre of the targets, which is used to build the control protocol to achieve equidistant circular enclosing. Using a Lyapunov function and Lasalle’s Invariance Principle, the convergency of the estimator and control protocol are, respectively, established. We then construct a smooth function to approximate the discontinuous term in the estimator. Finally, the simulations for stationary targets and moving targets are given to verify the validity of the results obtained. 2015 Journal Article http://hdl.handle.net/20.500.11937/15183 10.1080/00207179.2014.938447 Taylor & Francis restricted |
| spellingShingle | exploring matrix equidistant circular enclosing multi-agent systems distributed control central estimator Shi, Y. Li, R. Teo, Kok Lay Cooperative enclosing control for multiple moving targets by a group of agents |
| title | Cooperative enclosing control for multiple moving targets by a group of agents |
| title_full | Cooperative enclosing control for multiple moving targets by a group of agents |
| title_fullStr | Cooperative enclosing control for multiple moving targets by a group of agents |
| title_full_unstemmed | Cooperative enclosing control for multiple moving targets by a group of agents |
| title_short | Cooperative enclosing control for multiple moving targets by a group of agents |
| title_sort | cooperative enclosing control for multiple moving targets by a group of agents |
| topic | exploring matrix equidistant circular enclosing multi-agent systems distributed control central estimator |
| url | http://hdl.handle.net/20.500.11937/15183 |