TY - GEN
T1 - Specified-time Dynamic Target Autonomous Surrounding Formation for Multi-agent Network
T2 - 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
AU - Xue, Haoliang
AU - Zhou, Yuan
AU - Zhao, Yu
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - Existing work on the multiple target formation problem mostly focuses on the leader-follower network with one-to-one correspondence, which imposes a bit of strict assumptions on the interaction configuration. To realize this restriction, this paper considers a general leader-follower network with general exploring relationships and aims to solve the specified-time dynamic target autonomous surrounding formation (DT-DASF) problem. A sampling-data-based protocol is proposed with several formation configuration estimators, i.e., a convex hull estimator, a formation center estimator, a surrounding distance estimator, and a formation vector estimator. By time projection and motion planning method, it shows that the proposed estimator and protocol can drive followers to achieve surrounding formation within an appropriate surrounding distance and simultaneously encircle all dynamic targets at a specified time. A numerical simulation verifies the effectiveness of the theoretical result.
AB - Existing work on the multiple target formation problem mostly focuses on the leader-follower network with one-to-one correspondence, which imposes a bit of strict assumptions on the interaction configuration. To realize this restriction, this paper considers a general leader-follower network with general exploring relationships and aims to solve the specified-time dynamic target autonomous surrounding formation (DT-DASF) problem. A sampling-data-based protocol is proposed with several formation configuration estimators, i.e., a convex hull estimator, a formation center estimator, a surrounding distance estimator, and a formation vector estimator. By time projection and motion planning method, it shows that the proposed estimator and protocol can drive followers to achieve surrounding formation within an appropriate surrounding distance and simultaneously encircle all dynamic targets at a specified time. A numerical simulation verifies the effectiveness of the theoretical result.
KW - Dynamic Target Surrounding Formation
KW - Leader-follower Network
KW - Maximum Surrounding Distance
KW - Specified-time Control
UR - http://www.scopus.com/inward/record.url?scp=85200561714&partnerID=8YFLogxK
U2 - 10.1109/FASTA61401.2024.10595313
DO - 10.1109/FASTA61401.2024.10595313
M3 - 会议稿件
AN - SCOPUS:85200561714
T3 - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
SP - 377
EP - 382
BT - Proceedings of the 3rd Conference on Fully Actuated System Theory and Applications, FASTA 2024
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 10 May 2024 through 12 May 2024
ER -