Open AccessDistributed encirclement control of multi-agent systems
Author(s) -
Duan Min,
Hui Gao,
Yongduan Song
Publication year - 2014
Publication title -
wuli xuebao
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.199
H-Index - 47
ISSN - 1000-3290
DOI - 10.7498/aps.63.140204
Subject(s) - computer science , swarm behaviour , lyapunov function , estimator , control theory (sociology) , multi agent system , swarm intelligence , distributed computing , control (management) , artificial intelligence , algorithm , mathematics , physics , statistics , quantum mechanics , nonlinear system , particle swarm optimization
In nature, the motion of swarm intelligence has a regularity such as the line motion based bird migration, the circle motion based fish swarming, etc., which has important theoretical significance and vast application prospect in engineering practice. In this paper, we investigate the distributed encirclement control problem of a group of multi-agent systems. With considering the feature that each agent can achieve local target information, we design an averaging estimator to achieve the target information, and propose a distributed control scheme to achieve the encirclement and keep the formation changing with the target states. By Lyapunov theory analysis, it is proved that each individual agent can achieve the information about the marked arerage position in a finite time, encircle and pursue the targets based on the encirclement formation. Finally, a numerical example is presented to illustrate the obtained theoretical results.