Distributed Entrapping Control of Multiagent Systems Using Bearing Measurements

• 成果类型: Article
• 署名作者: Yang, Ziwen; Chen, Cailian; Zhu, Shanying; Guan, Xinping; Feng, Gang
• 署名单位: Shanghai Jiao Tong University; City University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3046714
• 发表日期: 2021
• 页码: 5696-5710
• 关键词: shape; trajectory; sensors; Robot sensing systems; observability; Multi-agent systems; observers; bearing measurements; bearing observability; Distributed control; target entrapping; time-varying formation control

摘要

This article studies the distributed entrapping control problem of multiple mobile agents based on bearing and velocity measurements. A time-varying entrapping formation with a prescribed shape, which is elastic and rotational with respect to the target is adopted. Such a formation allows agents to move even in restricted areas while still entrapping the target as a whole. To achieve the entrapping formation based on bearing measurements, a leader-follower structure is adopted, and a design framework integrating formation shape observers, relative position estimators, and distributed controllers is proposed. The rigorous stability analysis of the overall system is also given. It is shown that the stability of the closed loop system is guaranteed if its bearing observability is satisfied. Since the desired formation is determined by the trajectories of the leaders, we characterize the sufficient conditions on the trajectories of the leaders such that the bearing observability of the closed loop system is always satisfied, and the estimation errors and the formation tracking errors converge to zero asymptotically. Simulations verify the effectiveness of the proposed framework.