Open AccessMulti‐group coordination control of multi‐agent system based on smoothing estimator
Author(s) -
Li Rui,
Shi Yingjing,
Song Yongduan
Publication year - 2016
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2016.0002
Subject(s) - estimator , smoothing , control theory (sociology) , protocol (science) , convergence (economics) , group (periodic table) , computer science , invariant (physics) , mathematical optimization , mathematics , control (management) , artificial intelligence , computer vision , statistics , medicine , chemistry , alternative medicine , organic chemistry , pathology , economics , mathematical physics , economic growth
This study investigates the coordination control problem of multiple groups of agents, where the agents in each group collaborate to achieve the enclosure for multiple moving targets. The authors first develop an estimator with smoothing characteristic to localise the moving targets. Then, by introducing definitions including parent system, child system and active agent, the definition of joint structure is established. Next, in virtue of the constructed estimator, a control protocol is proposed to enclose the dynamic targets based on the joint structure. Moreover, the convergence analyses on the estimator and the protocol are provided by using LaSalle's invariant principle. Finally, the validity of the theoretical results is demonstrated through simulations.