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Formation Maneuvering and Target Interception for Multi‐Agent Systems via Rigid Graphs
Author(s) -
Cai Xiaoyu,
Queiroz Marcio
Publication year - 2015
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1044
Subject(s) - interception , control theory (sociology) , lyapunov function , infinitesimal , term (time) , double integrator , position (finance) , graph , computer science , mathematics , multi agent system , control (management) , artificial intelligence , physics , mathematical analysis , theoretical computer science , ecology , finance , nonlinear system , quantum mechanics , economics , biology
In this paper, we introduce control laws for multi‐agent formation maneuvering and target interception problems. In the target interception problem, we consider that the target velocity is unknown. Using a single‐integrator agent model, the proposed controls consist of a formation acquisition term, dependent on the graph rigidity matrix, and a formation maneuvering or target interception term. The control laws are only a function of the relative position of agents in an infinitesimally and minimally rigid graph, and either the desired maneuvering velocity of the formation or the target's relative position to the leader. The target interception control includes a continuous dynamic estimation term to identify the unknown target velocity. A Lyapunov‐like stability analysis is used to prove that the control objectives are met.