Cooperative control of multi-agent dynamical systems in target-enclosing operations using cyclic pursuit strategy

Tae Hyoung Kim, Shinji Hara, Yutaka Hori

研究成果: Article

34 引用 (Scopus)

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This article is concerned with formation stability analysis of distributed cooperative control for target-enclosing operations by multiple homogeneous dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide Lyapunov and asymptotic stability conditions which should hold for the above path generation laws. These conditions are derived based on a simple stability analysis method for linear systems with a generalised frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability conditions guarantees the required global convergence property with theoretical rigour. Furthermore, in order to show its distinctive features clearly, we present how to analyse a global formation stability for multi-agent systems, where each agent is modelled as a class of second-order systems and is locally stabilised by a proportional-derivative (PD) controller. Some simulation examples illustrate the distinctive features of the proposed method and the achievement of a desired pursuit pattern.

元の言語English
ページ(範囲)2040-2052
ページ数13
ジャーナルInternational Journal of Control
83
発行部数10
DOI
出版物ステータスPublished - 2010 10 1
外部発表Yes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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