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

Tengfei Zhang,Jianheng Ling,Lipo Mo

doi:10.1109/access.2019.2930869

Abstract

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.

Highlights

In military and civilian, when a group of autonomous vehicles are dispatched to protect/rescue our targets or detect/attack enemy targets, these vehicles are often required to provide a coverage or encircle the targets
Many commendable control methods have been proposed such as robust control, adaptive control, sliding mode control, and so forth [1]–[6]
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

Summary

INTRODUCTION

In military and civilian, when a group of autonomous vehicles (including robots, unmanned ground vehicles, unmanned aerial vehicles, and so on) are dispatched to protect/rescue our targets or detect/attack enemy targets, these vehicles are often required to provide a coverage or encircle the targets. 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. T. Zhang et al.: Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems information can be obtained by only one agent or there is only one target. The distributed finite-time rotating encirclement control problem of multiagent systems with nonconvex input constraints and multiple dynamic targets is considered by introducing a constraint operator and designing a reference trajectory for each agent. Each target can be tracked by at least one agent, rather than only one

GRAPH THEORY

CONTROL DESIGN

STABILITY ANALYSIS

SIMULATION