Multiple-Target Surrounding and Collision Avoidance With Second-Order Nonlinear Multiagent Systems
Bin-Bin Hu, Hai-Tao Zhang, Jun Wang · IEEE Transactions on Industrial Electronics · 2020
This article proposes an equal-distance surrounding control method for second-order nonlinear multiagent systems (MASs) to encircle multiple moving targets with guaranteed collision avoidance. First, a distributed estimator is developed to approximate the center of moving targets. Then, an adaptive distributed control law is designed for the MASs to accomplish equal-distance surrounding collaboratively. In particular, conditions for assuring asymptotical stability for the closed-loop MAS are derived. Finally, experimental results with unmanned surface vessels are reported to substantiate the effectiveness of the proposed coordinated surrounding control method.