Multiple-Target Surrounding and Collision Avoidance with Second-Order Nonlinear Multiagent Systems
Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
Original language | English |
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Article number | 9113710 |
Pages (from-to) | 7454-7463 |
Journal / Publication | IEEE Transactions on Industrial Electronics |
Volume | 68 |
Issue number | 8 |
Online published | 10 Jun 2020 |
Publication status | Published - Aug 2021 |
Link(s)
Abstract
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.
Research Area(s)
- Collision avoidance, multiagent systems (MASs), surrounding control, unmanned surface vessels
Citation Format(s)
Multiple-Target Surrounding and Collision Avoidance with Second-Order Nonlinear Multiagent Systems. / Hu, Bin-Bin; Zhang, Hai-Tao; Wang, Jun.
In: IEEE Transactions on Industrial Electronics, Vol. 68, No. 8, 9113710, 08.2021, p. 7454-7463.Research output: Journal Publications and Reviews (RGC: 21, 22, 62) › 21_Publication in refereed journal › peer-review