Finite-time cooperative circumnavigation control of multiple second-order agents with desired formations |
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| Institution: | 1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;2. Artiflcial Intelligence Institute of Industrial Technology, Nanjing Institute of Technology, Nanjing 211167, China;1. College of Science, Hohai University, Nanjing 210098, PR China;2. School of Mathematics and Informational Science, Yantai University, Yantai 264005, PR China;3. School of Mathematics, Southeast University, Nanjing 210096, China;4. Yonsei Frontier Lab, Yonsei University, Seoul 03722, South Korea;5. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, China;1. College of Control Science and Engineering, Bohai University, Jinzhou 121013, China;2. School of Information Science and Engineering, Shandong Normal University, Jinan 250014, China;3. School of Control Science and Engineering, Tiangong University, Tianjin 300387, China;4. Faculty of Electronic Information and Electrical Engineering, Dalian University of Technology, Dalian 116024, China;5. Communication Systems and Networks Research Group, Department of Electrical and Computer Engineering, Faculty of Engineering, King Abdulaziz University, Jeddah, Saudi Arabia;1. Department of Automation, Xiamen University, Xiamen, Fujian 361005, China;2. School of Systems Design and Intelligent Manufacturing, South University of Science and Technology, Shenzhen Guangdong 518000, China;1. National Research Base of Intelligent Manufacturing Service, Chongqing Technology and Business University, Chongqing 400067, China;2. Chongqing Innovation Center of Industrial Big-Data Co., Ltd., Chongqing, 400707, China;3. School of Mechanical Engineering, Chongqing Technology and Business University, Chongqing, China;4. College of Control Science and Engineering, Bohai University, Jinzhou 121013, China;5. Department of Mathematics, Bharathiar University, Coimbatore, Tamilnadu 641046, India |
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| Abstract: | This paper investigates the finite-time cooperative circumnavigation control of multiple second-order agents, in which the agents should surround a moving target with desired formation and circular velocity based on local information. Firstly, the controller design is transformed into design control parameters such that the error system, including distance error, speed error and angle error, is finite-time consensus. The error system is viewed as a cascaded system containing two second-order subsystems, and then a distributed finite-time controller composed of two parts is delivered. The finite-time stability of the entire system is given by employing cascaded control theory. One significant advantage of the proposed controller is that it allows the agents to converge to desired trajectory in a finite time instead of asymptotically. Another merit is that the desired formation is an extensive case and unlimited, including different tracking radii and angular spacing. Furthermore, the proposed controller can be implemented by each agent in its local frame, utilizing only local information. These properties significantly extend the application scope of cooperative circumnavigation. Finally, simulations are carried out to validate the effectiveness of the proposed method. |
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