Single Agent Herding of n-Agents: A Switched Systems Approach
Ryan A. Licitra, Zachary D. Hutcheson, Emily A. Doucette, Warren E. Dixon · IFAC-PapersOnLine · 2017
In this paper, we develop a robust controller to accomplish a herding task, i.e., using a directly controllable agent to influence the states of target agents which are not directly controllable. This paper employs constructive control design strategies and switched systems analysis to control a herding agent in a way that regulates fleeing target agents to a goal location. Lyapunov-based analysis is used to guarantee exponential regulation of the target agents. Preliminary simulation results are included to illustrate the performance of the developed controller.