Regular Papers

International Journal of Control, Automation and Systems 2017; 15(4): 1536-1543

Published online June 27, 2017

https://doi.org/10.1007/s12555-016-0055-1

© The International Journal of Control, Automation, and Systems

Finite-time Circle Surrounding Control for Multi-agent Systems

Dan Ma* and Yingchun Sun

Northeastern University

Abstract

In this paper, a finite-time circle surrounding control problem for multi-agent systems is investigated. The objective is to make all the surrounding agents eventually distribute on a circle uniformly and all the target agents surrounded by this circle in the finite time. Both a distributed estimator and a distributed control protocol are presented to achieve such a goal. Firstly, an estimator of the targets’ geometric center is used to estimate the center of targets. Secondly, a distributed control protocol is proposed for each surrounding agent by using the value of the estimator to guarantee all the surrounding agents uniformly distribute on a circle and all the target agents are surrounded by this circle in the finite time. Then it is proved that the control goal can be achieved in the finite time. Finally, a simulation example is given to show the effectiveness of the proposed method."

Keywords Circle surrounding control, distributed estimator, finite-time, multi-agent systems.

Article

Regular Papers

International Journal of Control, Automation and Systems 2017; 15(4): 1536-1543

Published online August 1, 2017 https://doi.org/10.1007/s12555-016-0055-1

Copyright © The International Journal of Control, Automation, and Systems.

Finite-time Circle Surrounding Control for Multi-agent Systems

Dan Ma* and Yingchun Sun

Northeastern University

Abstract

In this paper, a finite-time circle surrounding control problem for multi-agent systems is investigated. The objective is to make all the surrounding agents eventually distribute on a circle uniformly and all the target agents surrounded by this circle in the finite time. Both a distributed estimator and a distributed control protocol are presented to achieve such a goal. Firstly, an estimator of the targets’ geometric center is used to estimate the center of targets. Secondly, a distributed control protocol is proposed for each surrounding agent by using the value of the estimator to guarantee all the surrounding agents uniformly distribute on a circle and all the target agents are surrounded by this circle in the finite time. Then it is proved that the control goal can be achieved in the finite time. Finally, a simulation example is given to show the effectiveness of the proposed method."

Keywords: Circle surrounding control, distributed estimator, finite-time, multi-agent systems.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

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