Multi-target Rotating Encirclement Formations of Second-order Multi-agent Systems with Communication Noises
Shaoyan Guo, Yangjun Lin, Yong Zhong · 2021 China Automation Congress (CAC) · 2021
This paper investigates the encirclement formation problem of second-order multi-agent systems (SO-MAS)with communication noises. Firstly, the targets’ position is calculated by a distributed estimator. Secondly, a distributed control scheme is designed to make sure all agents achieve rotating encirclement formation, and time-varying gain is adopted to reduce the affect of communication noises. Then, based on the complex domain theory and Lyapunov theory, a sufficient condition for achieving the desired rotating encirclement formation is obtained. Finally, the numerical simulation shows the proposed scheme’s effectiveness.