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Event-triggered encirclement control of multi-agent systems with bearing rigidity

Science China(Information Sciences) 2017年第11期60卷 91-108页

作者： Yangguang YU Zhiwen ZENG Zhongkui LI Xiangke WANG Lincheng SHEN College of Mechatronics & Automation National University of Defense Technology State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Aerospace EngineeringCollege of Engineering Peking University

In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads,the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability(ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated.

关键词： encirclement control event-triggered multi-agent system bearing rigidity

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bearing Measurement Based Formation Maneuver Control

Bearing Measurement Based Formation Maneuver Control

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第40届中国控制会议

作者： Zhixuan Xiao Xiaoping Fan Xiaowu Yang School of Automation Central South University School of Information Technology and Management Hunan University of Finance and Economics College of Artificial Intelligence and Electrical Engineering Guizhou Institute of Technology Special Key Laboratory of Artificial Intelligence and Intelligent Control of Guizhou Province

In this paper,bearing rigidity theory,Routh-Hurwitz stability theory and Lyapunov stability theory are used to study the bearing measurement based formation maneuver *** leaders are set up in the formation and different control laws are designed for the second leader and followers respectively,and the global formation stability is also *** the target formation,the followers are constrained by bearings,and the leaders are constrained by bearing and *** formation scaling and rotation maneuverings can be achieved by adjusting the distance constraint and bearing constraint between two leaders *** the whole formation control process,wireless communication is not *** control laws only rely on the bearings,speed measurements of agents and the distance measurement between two ***,some simulations are provided to verify our analysis.

关键词： bearing rigidity formation maneuvering multi-agent system formation control

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