Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance
Tóm tắt
In this paper, the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general trajectory. Without using the velocity of the vehicles, a position feedback control law is proposed to fence the general target into the convex hull formed by the vehicles. Specifically, the dynamics of each vehicle is described by a double-integrator system. Two potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the vehicles. The proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of time. The effectiveness of the result is verified by a numerical example.
Từ khóa
Tài liệu tham khảo
Drew D S, Multi-agent systems for search and rescue applications, Current Robotics Reports, 2021, 2(2): 189–200.
Mohiuddin A, Tarek T, Zweiri Y, et al., A survey of single and multi-UAV aerial manipulation, Unmanned Systems, 2020, 8(2): 119–47.
Dotoli M, Zgaya H, Russo C, et al., A multi-agent advanced traveler information system for optimal trip planning in a co-modal framework, IEEE Transactions on Intelligent Transportation Systems, 2017, 18(9): 2397–412.
Kopfstedt T, Mukai M, Fujita M, et al., Control of formations of UAVs for surveillance and reconnaissance missions, IFAC Proceedings Volumes, 2008, 41(2): 5161–5166.
Fedele G, D’Alfonso L, and Franzé G, Swarm formation for perimeter surveillance in rectangular strips: A distributed model predictive approach, Journal of the Franklin Institute, 2022, 359(18): 10578–10601.
Seyboth G S, Wu J, Qin J, et al., Collective circular motion of unicycle type vehicles with nonidentical constant velocities, IEEE Transactions on Control of Network Systems, 2014, 1(2): 167–176.
Shames I, Dasgupta S, Fidan B, et al., Circumnavigation using distance measurements under slow drift, IEEE Transactions on Automatic Control, 2012, 57(4): 889–903.
Deghat M, Shames I, Anderson B D O, et al., Localization and circumnavigation of a slowly moving target using bearing measurements, IEEE Transactions on Automatic Control, 2014, 59(8): 2182–2188.
Kim T H and Sugie T, Cooperative control for target-capturing task based on a cyclic pursuit strategy, Automatica, 2007, 43(8): 1426–1431.
Yu X and Liu L, Cooperative control for moving-target circular formation of nonholonomic vehicles, IEEE Transactions on Automatic Control, 2017, 62(7): 3448–3454.
Chen Z, A cooperative target-fencing protocol of multiple vehicles, Automatica, 2019, 107: 591–594.
Kou L, Chen Z, and Xiang J, Cooperative fencing control of multiple vehicles for a moving target with an unknown velocity, IEEE Transactions on Automatic Control, 2022, 67(2): 1008–1015.
Kou L, Huang Y, Chen Z, et al., Cooperative fencing control of multiple second-order vehicles for a moving target with and without velocity measurements, International Journal of Robust and Nonlinear Control, 2021, 31(10): 4602–4615.
Hu B B, Zhang H T, and Shi Y, Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation, Automatica, 2023, 148: 110788.
Hu B B, Chen Z, and Zhang H T, Distributed moving target fencing in a regular polygon formation, IEEE Transactions on Control of Network Systems, 2022, 9(1): 210–218.
Pan Z and Chen B M, Cooperative target fencing for a general target with connectivity preservation, Proceedings of 22nd IFAC World Congress, Yokohama, 2023, 2919–2924.
Francis B A, The linear multivariable regulator problem, SIAM Journal on Control and Optimization, 1977, 15(3): 486–505.
Han D and Panagou D, Robust multitask formation control via parametric Lyapunov-like barrier functions, IEEE Transactions on Automatic Control, 2019, 64(11): 4439–4453.
Huang Y, Meng Z, and Dimarogonas D V, Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints, Automatica, 2024, 160: 111412.
Dong Y and Huang J, Flocking with connectivity preservation of multiple double integrator systems subject to external disturbances by a distributed control law, Automatica, 2015, 55: 197–203.
Dong Y and Huang J, Leader-following connectivity preservation rendezvous of multiple double integrator systems based on position measurement only, IEEE Transactions on Automatic Control, 2014, 59(9): 2598–2603.
Su Y and Huang J, Cooperative output regulation of linear multi-agent systems, IEEE Transactions on Automatic Control, 2012, 57(4): 1062–1066.