Generalized cyclic pursuit of double-integrator agents
Souradip De, Soumya Ranjan Sahoo, Pankaj Wahi · 2018
This paper discusses a generalized cyclic pursuit of multiple double-integrator agents under the influence of heterogeneous gains. The control law with the heterogeneous gains ensure positional consensus in the multi-agent system. The control law of each agent consists of position consensus gain and velocity damping gain. It is established that under the presence of at most one zero or negative position consensus gain, the multi-agent system can achieve rendezvous. An analytic expression for the convergence point in terms of initial conditions, position consensus gains, and velocity damping gains is derived. The heterogeneous velocity damping gains aid in expanding the reachable set for the multi-agent system. If the agents are initially at rest, then the rendezvous point will be same as for the single-integrator case with the effective gain being the ratio of position consensus gain to velocity damping gain of each agent. The effectiveness of our control protocol is demonstrated in simulations.