Cyclic-Pursuit-Based Circular Formation Control of Mobile Agents with Limited Communication Ranges and Communication Delays

作     者：Boyin Zheng Cheng Song Lu Liu Boyin Zheng;Cheng Song;Lu Liu

作者机构：Department of Biomedical EngineeringCity University of Hong KongHong KongChina School of AutomationNanjing University of Science and TechnologyNanjing 210094China IEEE 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2023年第10卷第9期

页      面：1860-1870页

核心收录：

学科分类：08[工学] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the National Natural Science Foundation of China(61773327,62273182) the Research Grants Council of the Hong Kong Special Administrative Region of China(CityU/11217619) the Fundamental Research Funds for the Central Universities(30921011213) 

主　　题：Circular formation control communication delays cyclic pursuit heterogeneous communication ranges 

摘      要：This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication *** minimize the number of communication links,a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s *** contrast to existing works,we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously.A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same *** is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed ***,the effectiveness of the proposed method is illustrated by some simulation examples.