Finite-time Surrounding Control of Agents Based on Velocity Field
Ye-xian Cui, Jie Luo, Kecai Cao, Yu Chen, Jie Wang · 2020
Problem of surrounding control where two or more agents (herders) surrounding a known target has been considered in this paper. Different to the previous study where only the position information of the target has been included in the repulsion between herders and the target, information of velocity has been further utilized and finite-times controllers have been constructed in the end. Surrounding control of one reference target have been successfully realized using the finite time controller proposed in this paper no matter the desired trajectory is persistent or not such as circular movement or moving along a straight line. Simulations using Matlab are also presented to illustrate the effectiveness of the results of this paper.