Multiple Dynamic Targets Encirclement Control of Multiagent Systems

This paper develops the distributed encirclement control problem of multiagent systems, in which each agent tracks multiple targets, each target can be tracked by one agent, and the numbers of the agents and the targets are the same or not. Firstly, an encirclement control protocol is proposed for multiagent systems, and this protocol contains some estimators. Secondly, some conditions are derived, under which multiagent systems can achieve encirclement control by circular formation. Finally, numerical simulations are provided to illustrate the obtained results.

[1]  Yongduan Song,et al.  Distributed multi-agent optimization subject to nonidentical constraints and communication delays , 2016, Autom..

[2]  Gordon F. Royle,et al.  Algebraic Graph Theory , 2001, Graduate texts in mathematics.

[3]  Yingmin Jia,et al.  Consensus of a Class of Second-Order Multi-Agent Systems With Time-Delay and Jointly-Connected Topologies , 2010, IEEE Transactions on Automatic Control.

[4]  Yingmin Jia,et al.  Multi-agent consensus with diverse time-delays and jointly-connected topologies , 2011, Autom..

[5]  Gu Jian-zhong.  Distributed Coordination of Multi-agent Systems , 2010 .

[6]  Wei Ren,et al.  Collective rotating motions of second-order multi-agent systems in three-dimensional space , 2011, Syst. Control. Lett..

[7]  Wei Ren,et al.  Constrained Consensus in Unbalanced Networks With Communication Delays , 2014, IEEE Transactions on Automatic Control.

[8]  S. Bhat,et al.  Continuous finite-time stabilization of the translational and rotational double integrators , 1998, IEEE Trans. Autom. Control..

[9]  Yingmin Jia,et al.  Further results on decentralised coordination in networks of agents with second-order dynamics , 2009 .

[10]  Daizhan Cheng,et al.  Lyapunov-Based Approach to Multiagent Systems With Switching Jointly Connected Interconnection , 2007, IEEE Transactions on Automatic Control.

[11]  Peng Lin,et al.  Average consensus in networks of multi-agents with both switching topology and coupling time-delay , 2008 .

[12]  Yingmin Jia,et al.  H α consensus control of a class of high-order multi-agent systems , 2011 .

[13]  Camille Alain Rabbath,et al.  Model Predictive Control for the dynamic encirclement of a target , 2012, 2012 American Control Conference (ACC).

[14]  陈小平,et al.  Collective surrounding control in multi-agent networks , 2014 .

[15]  Yingmin Jia,et al.  Distributed robust Hinfinity consensus control in directed networks of agents with time-delay , 2008, Syst. Control. Lett..

[16]  Tingting Pan,et al.  Consensus of heterogeneous multi-agent systems with switching jointly-connected interconnection , 2015 .

[17]  Yingmin Jia,et al.  Consensus of second-order discrete-time multi-agent systems with nonuniform time-delays and dynamically changing topologies , 2009, Autom..

[18]  Wei Ting-Ting,et al.  Collective surrounding control in multi-agent networks , 2014 .

[19]  Yongcan Cao,et al.  Surrounding control in cooperative agent networks , 2010, Syst. Control. Lett..

[20]  Richard M. Murray,et al.  Consensus problems in networks of agents with switching topology and time-delays , 2004, IEEE Transactions on Automatic Control.