Bearing-only circumnavigation control of the multi-agent system around a moving target

被引：26

作者：

Yu, Yangguang ^{[1
]}

Li, Zhongkui ^{[2
]}

Wang, Xiangke ^{[1
]}

Shen, Lincheng ^{[1
]}

机构：

[1] Natl Univ Def Technol, Coll Mechatron & Automat, Changsha 410073, Hunan, Peoples R China

[2] Peking Univ, Coll Engn, Dept Mech & Aerosp Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China

来源：

IET CONTROL THEORY AND APPLICATIONS | 2019年 / 13卷 / 17期

关键词：

mobile robots; aerospace control; multi-robot systems; multi-agent systems; control engineering computing; numerical analysis; mathematical analysis; motion control; space vehicles; bearing-only; multiagent system; moving target; bearing-based; networked multiagent systems; bearing measurements; distributed algorithm; bearing information; local network; distributed circumnavigation algorithm; control algorithm; circumnavigation control law; LOCALIZATION; RANGE;

D O I：

10.1049/iet-cta.2018.6133

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The bearing-based coordinated circumnavigation control for networked multi-agent systems with only bearing measurements in the presence of moving target is studied. First, a distributed algorithm is proposed to estimate the target's velocity and the distances between the agents and the target, based on the velocity and the bearing information of the local network. Then, a distributed circumnavigation algorithm is designed to drive the agents to circumnavigate around a moving target at a desired distance. The stability of the proposed control algorithm is proven by employing the newly developed bearing rigidity theory. Finally, the simulation experiment is performed based on the Gazebo simulator to illustrate the effectiveness of the proposed circumnavigation control law.

引用

页码：2747 / 2757

页数：11

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