- Title
- Cooperative fencing control of multiple second-order vehicles for a moving target with and without velocity measurements
- Creator
- Kou, Liwei; Huang, Yi; Chen, Zhiyong; He, Shiming; Xiang, Ji
- Relation
- International Journal of Robust and Nonlinear Control Vol. 31, Issue 10, p. 4602-4615
- Publisher Link
- http://dx.doi.org/10.1002/rnc.5493
- Publisher
- John Wiley & Sons
- Resource Type
- journal article
- Date
- 2021
- Description
- This article studies the moving-target-fencing problem of multiple second-order vehicles, where the target moves with an unknown constant velocity. Without a predefined stand-off distance or formation, two classes of local cooperative controllers are proposed with and without velocity measurements. Specifically, the first controller uses the relative position information from the target and vehicle's neighbors, as well as the vehicle's velocity measurement, while the second controller relaxes the common requirement of velocity measurement of the vehicles. It is proved that both controllers simultaneously assure target fencing, collision avoidance, and velocity convergence. Finally, numerical simulations are provided to verify the efficacy of the proposed controllers.
- Subject
- collison avoidance; cooperative control; multi-agent systems; target fencing; SDG 3; Sustainable Development Goals
- Identifier
- http://hdl.handle.net/1959.13/1474806
- Identifier
- uon:49377
- Identifier
- ISSN:1049-8923
- Language
- eng
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