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

Lipo Mo,Tengfei Zhang,Jianheng Ling

doi:10.1109/access.2020.2971729

Lipo Mo, Tengfei Zhang + Show 1 more

Open Access

https://doi.org/10.1109/access.2020.2971729

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Abstract

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.

Highlights

There have been a huge number of research results to date on the control problems of vehicles due to its widespread applications in robotics, aircraft, vessels, and so forth [1]–[5]
With specific communication topology between agents and targets, a finite-time distributed rotating encirclement control scheme was presented for multi-agent systems in [17]
This paper studies the collective multi-target rotating encirclement control problem for second-order multi-agent systems with nonconvex input constraints, which requires that all agents evenly distribute on a circle and rotate around the targets’ geometric center with the radius proportional to the maximum distance between all targets and their center

Summary

INTRODUCTION

There have been a huge number of research results to date on the control problems of vehicles due to its widespread applications in robotics, aircraft, vessels, and so forth [1]–[5]. This paper studies the collective multi-target rotating encirclement control problem for second-order multi-agent systems with nonconvex input constraints, which requires that all agents evenly distribute on a circle and rotate around the targets’ geometric center with the radius proportional to the maximum distance between all targets and their center. MAIN RESULT we propose a distributed control scheme to solve the rotating encirclement formation problem for the second-order multi-agent system (1) with nonconvex input constraints. The distributed control law restricted by the nonconvex input constraint is proposed to force each agent rotating around the center with desired radius. Remark 6: Compared with [16]–[22], in this paper the estimators of the targets’ geometric center and the rotating radius are distributed and does not require the neighbor information of targets. The distributed controller is designed for each agent in this paper, which greatly improves the robustness of the whole system and makes the formation shape more stable

STABILITY ANALYSIS

NUMERICAL SIMULATION

CONCLUSION