Distributed Rotating Encirclement Control of Strict-Feedback Multi-Agent Systems using Bearing Measurements
Tengfei Zhang, Yingmin Jia · Journal of Robotics Networking and Artificial Life · 2020
This paper focuses on the distributed multi-target rotating encirclement formation problem of strict-feedback multi-agent systems using bearing measurements. To this end, an estimator is presented to localize agents’ neighbor targets. Then, based on the trajectory planning method, a reference trajectory is constructed by three estimators, which are utilized to obtain the targets’ geometric center, the reference rotating radius and angular. Finally, an adaptive neural dynamic surface control scheme is proposed to drive all agents to move along their reference trajectories, which satisfy the multi-target rotating encirclement formation conditions. A numerical simulation is provided to verify the correctness and effectiveness of our proposed control scheme.