Authors
Tengfei Zhang, Yingmin Jia*
The Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), 37 Xueyuan Road, Haidian District, Beijing 100191, China
*Corresponding author. Email: [email protected]; www.buaa.edu.cn
Corresponding Author
Yingmin Jia
Received 21 October 2019, Accepted 22 February 2020, Available Online 20 May 2020.
DOI
https://doi.org/10.2991/jrnal.k.200512.007How to use a DOI?
Keywords
Strict-feedback multi-agent systems; rotating encirclement control; target localization; trajectory planning; trajectory tracking
Abstract
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.
Copyright
© 2020 The Authors. Published by ALife Robotics Corp. Ltd.
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/).