IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v48y2017i12p2565-2574.html
   My bibliography  Save this article

Distributed control for multi-target circumnavigation by a group of agents

Author

Listed:
  • Lingxia Cui
  • Shihua Chen
  • Lei Wang

Abstract

This study investigated the multi-target circumnavigation problem. The multi-target circumnavigation problems involve a group of agents circumnavigating moving targets in a coordinated fashion. To address the problem, a decentralised estimator is first constructed at each agent to estimate the geometric centre of the targets. Then, the distributed control strategy is developed by means of the estimator, which guarantees that the agents preserve the desired distance to the target centre and rotate around the targets at uniformly spaced angles. In particular, the topology structure of the agents only needs to be a tree rather than the ring. Thus, the control scheme is more feasible and robust and requires less information. The convergence of the proposed algorithms is demonstrated based on Lasalle's invariance principle and algebraic graph theory. Several numerical simulations are provided to validate the results.

Suggested Citation

  • Lingxia Cui & Shihua Chen & Lei Wang, 2017. "Distributed control for multi-target circumnavigation by a group of agents," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(12), pages 2565-2574, September.
    • Handle: RePEc:taf:tsysxx:v:48:y:2017:i:12:p:2565-2574
    DOI: 10.1080/00207721.2017.1324921
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2017.1324921
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2017.1324921?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:48:y:2017:i:12:p:2565-2574. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.