Distributed Rotating Encirclement Control of Strict-Feedback Multi-Agent Systems using Bearing Measurements
- 10.2991/jrnal.k.200512.007How to use a DOI?
- Strict-feedback multi-agent systems; rotating encirclement control; target localization; trajectory planning; trajectory tracking
This paper focuses on the distributed multi-target rotating encirclement formation problem of strict-feedback multi-agent systems using bearing measurements. To this end, an estimator is presented to localize agents’ neighbor targets. Then, based on the trajectory planning method, a reference trajectory is constructed by three estimators, which are utilized to obtain the targets’ geometric center, the reference rotating radius and angular. Finally, an adaptive neural dynamic surface control scheme is proposed to drive all agents to move along their reference trajectories, which satisfy the multi-target rotating encirclement formation conditions. A numerical simulation is provided to verify the correctness and effectiveness of our proposed control scheme.
- © 2020 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Tengfei Zhang AU - Yingmin Jia PY - 2020 DA - 2020/05/20 TI - Distributed Rotating Encirclement Control of Strict-Feedback Multi-Agent Systems using Bearing Measurements JO - Journal of Robotics, Networking and Artificial Life SP - 30 EP - 34 VL - 7 IS - 1 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.200512.007 DO - 10.2991/jrnal.k.200512.007 ID - Zhang2020 ER -