Finite-time enclosing control for multiple moving targets with control input saturation
Liang Zhang, Jinghui Deng, Bo Zheng, Shuping He · 2022 13th Asian Control Conference (ASCC) · 2022
Enclosing formation has been shown very popular in nature swarms and therefore has been widely applied for target entrapping and protecting in the artificial swarms. This paper addresses the finite-time enclosing control problem using multi-agent system (MAS) for multiple moving targets with control input saturation. It is guaranteed that both the including angle and relative distance can converge to the desired formation in finite time. Specifically, we focus on the case where the enclosing agents are limited by the control input saturation. Two novel finite-time sliding modes have been proposed to compensate for the saturation by monitoring the difference between the desired control command and the executed control command. On this basis, the finite time controllers are designed to achieve the desired enclosing formation. Finally, simulation results validate the correctness and effectiveness of the proposed methods.