| Autor: |
Hu, Bin-Bin, Zhang, Hai-Tao, Shi, Yang |
| Rok vydání: |
2023 |
| Předmět: |
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| Zdroj: |
Automatica, 2023 |
| Druh dokumentu: |
Working Paper |
| DOI: |
10.1016/j.automatica.2022.110788 |
| Popis: |
This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no label is predetermined for a specified agent. To attain a rigid formation with guaranteed collision avoidance, each controller consists of two terms: a dynamic regulator with an internal model to drive agents towards the moving target merely by position information feedback, and a repulsive force between each pair of adjacent agents. Significantly, sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop systems governed by the proposed fencing controller. Rigorous analysis is provided to eliminate the strong nonlinear couplings induced by the label-free property. Finally, the effectiveness of the controller is substantiated by numerical simulations. |
| Databáze: |
arXiv |
| Externí odkaz: |
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