Containment problem with time-varying formation and collision avoidance for multiagent systems

Santiaguillo-Salinas, J.; Aranda-Bricaire, E.

doi:10.1177/1729881417703929

Cited by 13 publications

(13 citation statements)

References 29 publications

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“…In view of the fact that the lead angles are very small after forming the situation of target-encirclement, one has U i % r i and _ U i % _ r i % ÀV i . Substituting them into equation (29)…”

Section: The Consensus Protocol Of Simultaneous Attackmentioning

confidence: 99%

“…There are many interesting research branches in the field of multi-agent cooperative control, such as the formationcontainment control problem, [27][28][29] the target-encirclement control problem, [30][31][32] and the pinning control problem 33,34 . Inspired by the problem of target-encirclement control, we raise the target-encirclement guidance problem and propose the distributed target-encirclement guidance (DTEG) law which can realize simultaneous attack of multiple missiles in different LOS directions.…”

Section: Introductionmentioning

confidence: 99%

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Distributed target-encirclement guidance law for cooperative attack of multiple missiles

Yan

Fan

Liu

et al. 2020

International Journal of Advanced Robotic Systems

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The target-encirclement guidance problem for many-to-one missile-target engagement scenario is studied, where the missiles evenly distribute on a target-centered circle during the homing guidance. The proposed distributed target-encirclement guidance law can achieve simultaneous attack of multiple missiles in different line-of-sight directions. Firstly, the decentralization protocols of desired line-of-sight angles are constructed based on the information of neighboring missiles. Secondly, a biased proportional navigation guidance law that can arbitrarily designate the impact angle is cited. The missiles can achieve all-aspect attack on the target in an encirclement manner by combining the biased proportional navigation guidance law and dynamic virtual targets strategy. Thirdly, the consensus protocol of simultaneous attack is designed, which can guarantee that all missiles’ time-to-go estimates achieve consensus asymptotically, and the convergence of the closed-loop system is proved strictly via the Lyapunov stability theory. Finally, numerical simulation results demonstrate the performance and feasibility of the proposed distributed target-encirclement guidance law in different engagement situations.

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Section: The Consensus Protocol Of Simultaneous Attackmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Distributed target-encirclement guidance law for cooperative attack of multiple missiles

Yan

Fan

Liu

et al. 2020

International Journal of Advanced Robotic Systems

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“…A more general and challenging problem in multi‐agent systems is the formation‐containment, which has been recently studied from many point of views such as: stochastic communication topologies, heterogeneous linear systems, finite‐time convergence, and with collision avoidance . The main purpose in this problem is to stabilize multiple leaders on a formation and move a group of followers toward the convex hull constituted by the leaders.…”

Section: Introductionmentioning

confidence: 99%

Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

Silva

Souza

Pimenta

2020

Intl J Robust & Nonlinear

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This paper is concerned with the problem of formation-containment on networked systems, with interconnected systems modeled by the Euler-Lagrange equation with bounded inputs and time-varying delays on the communication channels. The main results are the design of control algorithms and sufficient conditions to ensure the convergence of the network. The control algorithms are designed as distributed dynamic controllers, in such a way that the number of neighbors of each agent is decoupled from the bound of the control inputs. That is, in the proposed approach the amplitude of the input signal does not directly increase with the number of neighbors of each agent. The proposed sufficient conditions for the asymptotic convergence follow from the Lyapunov-Krasovskii theory and are formulated in the linear matrix inequalities framework. The conditions rely only on the upper bound of delays and on a subset of the controller parameters, but they do not depend on the model of each agent, which makes it suitable for networks with agents governed by distinct dynamics. In order to illustrate the effectiveness of the proposed method we present numerical examples and compare with similar approaches existing in the literature. K E Y W O R D S Communication delays, Euler-Lagrange systems, formation-containment, input saturation 1 Int J Robust Nonlinear Control. 2020;30:2999-3022. wileyonlinelibrary.com/journal/rnc• the formation-containment is approached taking into account communication delays among agents and input saturation simultaneously, which to the best of authors' knowledge it is a scenario that has not yet been addressed on the literature. Additionally, the proposed distributed control strategy does not depend on the knowledge of the agents inertia matrix nor the Coriolis forces, it also does not rely on the neighbors velocity information. This reduces the communication burden on the network and provides a robust control strategy.Secondly, considering the consensus, a particular case of the main problem investigated in this manuscript, and comparing with those from the literature that primarily study consensus under similar conditions, the following contributions can also be highlighted:• input saturation was previously studied in the context of consensus problem in References 19 and 45, but with some important distinctions from our approach, namely: (a) we now propose a strategy to deal with the input saturation and communication delays simultaneously, (b) different from Reference 45 our dynamic controller does not rely on the knowledge of inertia nor Coriolis matrices and, (c) in contrast with both approaches, as mentioned above, the control strategy proposed here does not depend on relative velocity measurements;• regarding the communication delays among agents, it is noteworthy that the results of Nuño and collaborators 20,21,37,46 seem to contribute with the most notorious conditions on communication delays on the consensus of networked Euler-Lagrange systems. For example, the results in References 33 and 34 hand...

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“…As for the second approach, all USVs in the formation are seen as a single rigid structure, which is effortless to model but has high requirements of the communication. The third method, namely, the leader-follower method, is used not only in USVs but also in the formation control of mobile robots [17][18][19] and autonomous underwater vehicles. [20][21][22][23] The leader sails along a predefined route and followers maintain prescribed distance and orientation with respect to the leader.…”

Section: Introductionmentioning

confidence: 99%

Artificial potential field-based swarm finding of the unmanned surface vehicles in the dynamic ocean environment

Tan

Zhuang

Zeng

et al. 2020

International Journal of Advanced Robotic Systems

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Using multiple unmanned surface vehicle swarms to implement tasks cooperatively is the most advanced technology in recent years. However, how to find which swarm the unmanned surface vehicle belongs to is a meaningful job. So, this article proposed an artificial potential field-based swarm finding algorithm, which applies the potential field force directly to unmanned surface vehicles and leads them to their belonging swarm quickly and accurately. Meanwhile, the proposed algorithm can also maintain the formation stable while following the desired path. Based on the swarm finding algorithm, the artificial potential field-based collision avoidance method and the International Regulations for Preventing Collisions at Sea-based dynamic collision avoidance strategy are applied to the swarm control of multi-unmanned surface vehicles to enhance the performance in the dynamic ocean environment. Methods in this article are verified through numerical simulations to illustrate the feasibility and effectiveness of proposed schemes.

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Containment problem with time-varying formation and collision avoidance for multiagent systems

Cited by 13 publications

References 29 publications

Distributed target-encirclement guidance law for cooperative attack of multiple missiles

Distributed target-encirclement guidance law for cooperative attack of multiple missiles

Distributed formation‐containment control with Euler‐Lagrange systems subject to input saturation and communication delays

Artificial potential field-based swarm finding of the unmanned surface vehicles in the dynamic ocean environment

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