Enclosing Control for Multiagent Systems With a Moving Target of Unknown Bounded Velocity
研究多智能体系统如何围绕一个速度未知但有界的移动目标做圆周运动，并保持间距，仅用相对位置信息设计分布式控制器，通过非光滑分析给出充分条件。
This note studies an enclosing control problem for a multiagent system with a moving target of unknown bounded velocity. The objectives are to let each agent move along a circular orbit with a prescribed radius centered at the target and maintain desired spacing from neighboring agents. A distributed controller composed of three parts is designed by only using the relative position information from each agent to the target and its neighbors. The first two parts are designed to achieve target circling and spacing adjustment, respectively. The last part is designed discontinuously to compensate for the unknown bounded velocity of the target. Due to the discontinuously distributed controller, sufficient conditions are given by a nonsmooth analysis. Furthermore, the agents are shown to have order preservation and collision avoidance properties when the target is stationary. The effectiveness of theoretical results is illustrated by simulations.