Multiple-Target Surrounding and Collision Avoidance With Second-Order Nonlinear Multiagent Systems

This article proposes an equal-distance surrounding control method for second-order nonlinear multiagent systems (MASs) to encircle multiple moving targets with guaranteed collision avoidance. First, a distributed estimator is developed to approximate the center of moving targets. Then, an adaptive...

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Bibliographic Details
Published in:	IEEE transactions on industrial electronics (1982) 2021-08, Vol.68 (8), p.7454-7463
Main Authors:	Hu, Bin-Bin, Zhang, Hai-Tao, Wang, Jun
Format:	Article
Language:	eng
Subjects:	Adaptive control Artificial neural networks Collision avoidance Control methods Control theory Estimation Moving targets Multiagent systems multiagent systems (MASs) Nonlinear systems Protocols surrounding control Target tracking Topology unmanned surface vessels Vehicle dynamics
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Summary:	This article proposes an equal-distance surrounding control method for second-order nonlinear multiagent systems (MASs) to encircle multiple moving targets with guaranteed collision avoidance. First, a distributed estimator is developed to approximate the center of moving targets. Then, an adaptive distributed control law is designed for the MASs to accomplish equal-distance surrounding collaboratively. In particular, conditions for assuring asymptotical stability for the closed-loop MAS are derived. Finally, experimental results with unmanned surface vessels are reported to substantiate the effectiveness of the proposed coordinated surrounding control method.
ISSN:	0278-0046 1557-9948