Cooperative relay pursuit with input saturation constraint and external disturbances
Shengli Du, Lijun Zhu, Honggui Han, Junfei Qiao · International Journal of Robust and Nonlinear Control · 2022
Abstract This paper studies a class of tracking consensus problem called the cooperative relay pursuit where a group of agents cooperatively pursuit and capture an evading agent that enters the surveillance region. A subgroup of agents closest to the evader is commanded to pursuit the evader and thus called pursuers, while others called surveillance agents stay at their origin places. A relay mechanism is introduced to respect the pursuit efficiency, energy constraints and other factors. As the evader moves, some pursuers that do not remain the closest vicinity of the evader leave the pursuing group, while some surveillance agents that become more closer to the evader join into the pursuing. Due to the relay mechanism, the dynamics of pursuers are naturally an impulsive system and thus is nonsmooth. This paper aims to propose a distributed controller to achieve cooperative relay pursuit even when agents are subjected to both input saturation constraint and external disturbances. A modified algebraic Riccati equation and low‐gain technique are proposed to achieve the tracking consensus with an performance. A simulation example is provided to validate the theoretical results.