Cooperative Label-Free Moving Target Fencing for Second-Order Multi-Agent Systems with Rigid Formation
Abstract
This paper proposes a label-free controller for a second-order multi-agent system to cooperatively fence a moving target of variational velocity into a convex hull formed by the agents whereas maintaining a rigid formation. Therein, no label is predetermined for a specified agent. To attain a rigid formation with guaranteed collision avoidance, each controller consists of two terms: a dynamic regulator with an internal model to drive agents towards the moving target merely by position information feedback, and a repulsive force between each pair of adjacent agents. Significantly, sufficient conditions are derived to guarantee the asymptotic stability of the closed-loop systems governed by the proposed fencing controller. Rigorous analysis is provided to eliminate the strong nonlinear couplings induced by the label-free property. Finally, the effectiveness of the controller is substantiated by numerical simulations.
Keywords
Cite
@article{arxiv.2311.00978,
title = {Cooperative Label-Free Moving Target Fencing for Second-Order Multi-Agent Systems with Rigid Formation},
author = {Bin-Bin Hu and Hai-Tao Zhang and Yang Shi},
journal= {arXiv preprint arXiv:2311.00978},
year = {2023}
}