Cooperative Fencing Control of Multiple Vehicles for a Moving Target With an Unknown Velocity

Kou, Liwei; Chen, Zhiyong; Xiang, Ji

doi:10.1109/tac.2021.3075320

Cited by 43 publications

(17 citation statements)

References 32 publications

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“…A cooperative controller consisting of attractive, repulsive, and rotational inter-agent forces was developed in [20] to fence a specified stationary target. Afterwards, an interesting problem to fence a target with a constant velocity was addressed for first-order MASs [21], secondorder MASs [22,23] and multiple unmanned surface vessels [24].…”

Section: Introductionmentioning

confidence: 99%

“…So far, most of existing works [18][19][20] only considered label-free fencing for first-order MASs and have not systematically considered the formation evolution during entire fencing processes, which is however essential in practice, such as unmanned-system convey protection, reconnaissance, patrol, etc. Although a few recent works [21][22][23][24] studied the rigid formation with a constant-velocity target, a more challenging scenario of fencing a moving target with variational velocity still remains a dilemma. Thus, it becomes an urgent yet challenging mission to propose a label-free controller for second-order MASs to achieve collision-free rigid-formation fencing for a variational-velocity target.…”

Section: Introductionmentioning

confidence: 99%

“…The novelty of this paper is two-fold. First of all, unlike relevant prior label-free fencing works for a static target [18][19][20] and a constant-velocity target [21][22][23][24], the present study regards the target as an exosystem. Thereby, it proposes a label-free controller consisting of a dynamic regulator and an inter-agent repulsion to address a more challenging fencing problem with a variational-velocity target.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Zhang

Yang

2023

Automatica

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Zhang

Yang

2023

Automatica

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“…Moreover, velocity measurements are usually contaminated by noises in practice, which can deteriorate the formation tracking performances of robots. Thus, lots of formation control approaches have been proposed without velocity measurements of robots 34,35 . In Reference 36, a linear velocity observer is developed to handle absence of the leader robot's velocities based on the Lyapunov theory.…”

Section: Introductionmentioning

confidence: 99%

“…Thus, lots of formation control approaches have been proposed without velocity measurements of robots. 34,35 In Reference 36, a linear velocity observer is developed to handle absence of the leader robot's velocities based on the Lyapunov theory. In Reference 37, observers based on adaptive control technique are proposed to obtain estimations of the leader robot's velocities from the information of follower's onboard sensors.…”

mentioning

confidence: 99%

Formation control of nonholonomic mobile robots with inaccurate global positions and velocities

Kuang

Xia

et al. 2022

Intl J Robust & Nonlinear

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In this article, leader-following formation control is investigated for nonholonomic mobile robots with inaccurate measurements of global positions and velocities. In many existing results, the leader robot's velocities are assumed to be precisely measured and transmitted to follower robots, and unmodeled parts of the kinematic model caused by inaccurate global position are often ignored. First, an error-based extended state observer (EBESO) for each robot is designed to counteract influence of the inaccurate global positions and velocities in real time. Then, an EBESO-based formation controller without the leader robot's velocities is proposed to guarantee the accurate formation tracking performances. Furthermore, both convergence of the EBESO and stability analysis of the closed-loop error system are provided, respectively. The superiority of the proposed method is verified and illustrated by experiments. K E Y W O R D Serror-based extended state observer, leader-following formation, multirobot systems, nonholonomic mobile robots INTRODUCTIONRecently, cooperative control of nonholonomic mobile robots has been an active research field of multiple unmanned vehicle systems. [1][2][3] Compared with a single robot, the cooperation of multiple robots shows some excellent performances, such as high efficiency, adaptability, and robustness. One of the key issues in multirobot systems is the formation control that aims at cooperating a group of robots to form up and maintain a desired geometric structure. Formation control of mobile robots has extensive applications in various fields, such as surveillance, 4 search and rescue operations, 5,6 cooperative transportation, 7,8 and military applications. 9 Many methods have been applied to the formation control of multiple robots, such as the behavior-based method, 10,11 the virtual structure approach, 12,13 the leader-following scheme, [14][15][16] the potential field method, 17 and consensus-based approach. 18,19 No matter which formation control method is adopted, the position information of robots comes from the local positioning (such as onboard cameras [20][21][22] ) or the global positioning (such as ultrawideband (UWB) sensors 23,24 ). It is pointed out that the local position information is precise but not comprehensive whereas the global position information is comprehensive but not accurate. In outdoor or complex situations, the local position information is usually limited, so the global position information is indispensable for formation control, path planning, and obstacle avoidance of robots. Unfortunately, the global positioning deviation is inevitable because robot's barycenter is difficult to be ascertained precisely in reality. Thus, how to control the formation of multiple robots in a high precision is a challenging work because of the global positioning deviation.

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Cooperative target fencing of multiple double‐integrator systems with connectivity preservation

Pan,

Chen

2024

Intl J Robust & Nonlinear

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In this article, we study the cooperative target‐fencing problem of multiple double‐integrator systems over a state‐dependent communication network. We propose a distributed control law to asymptotically fence a moving target while achieving both collision avoidance and connectivity preservation of the vehicles. In particular, a distributed observer is employed by each vehicle to estimate the position and the velocity of the target. Compared with the existing results, our approach can accommodate a larger class of target's trajectories. Furthermore, our control law is more practical since we do not require all vehicles to know the trajectory of the target. The effectiveness of our approach is illustrated by a numerical example.

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Cooperative Fencing Control of Multiple Vehicles for a Moving Target With an Unknown Velocity

Cited by 43 publications

References 32 publications

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation

Formation control of nonholonomic mobile robots with inaccurate global positions and velocities

Cooperative target fencing of multiple double‐integrator systems with connectivity preservation

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