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In nature, the motion of swarm intelligence has a regularity such as the line motion based bird migration, the circle motion based fish swarming, etc., which has important theoretical significance and vast application prospect in engineering practice. In this paper, we investigate the distributed encirclement control problem of a group of multi-agent systems. With considering the feature that each agent can achieve local target information, we design an averaging estimator to achieve the target information, and propose a distributed control scheme to achieve the encirclement and keep the formation changing with the target states. By Lyapunov theory analysis, it is proved that each individual agent can achieve the information about the marked arerage position in a finite time, encircle and pursue the targets based on the encirclement formation. Finally, a numerical example is presented to illustrate the obtained theoretical results.
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Keywords:
- multi-agent system /
- encirclement control /
- distributed estimation
[1] Olfati-Saber R, Murray R M 2004 IEEE Trans. Automatic Control 49 1520
[2] Hong Y G, Hu J P, Gao L X 2006 Automatica 42 1177
[3] Hong Y G, Chen G R, Bushnell L 2008 Automatica 44 846
[4] Ren W, Atkins E 2007 Int. J. Robust Nonlinear Control 17 1002
[5] Lin P, Jia Y M, Yuan S Y 2007 Proceedings of the 26th Chinese Control Conference Zhangjiajie, Hunan, China, July 26-31, 2007 p577
[6] Lin P, Jia Y M 2008 Physica A 387 303
[7] Lin P, Jia Y M, Du J P, Yuan S Y 2008 Asian J. Control 10 254
[8] Tian Y P, Liu C L 2008 IEEE Trans. Autom. Control 53 2122
[9] Tian Y P, Liu C L 2008 Automatica 45 1347
[10] Liu C L, Tian Y P 2009 Int. J. Syst. Sci. 40 627
[11] Lin P, Jia Y M 2009 Automatica 45 2154
[12] Lin P, Jia Y M 2010 IEEE Trans. Automatic Control 55 778
[13] Lin P, Jia Y M 2011 Automatica 47 848
[14] Hu J P, Hong Y G 2007 Chin. Phys. A 374 853
[15] Lin P, Jia Y M 2008 Chin. Phys. A 387 303
[16] Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[17] Pei W D, Chen Z Q, Yuan Z Z 2008 Chin. Phys. B 17 373
[18] Marasco A J, Givigi S N, Rabbath C A 2012 American Control Conference Fairmont Queen Elizabeth, Montréal, Canada, June 27-29, 2012 p2004
[19] Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[20] Zhang W G, Liu J Z, Zeng D L, Hu Y 2013 Chin. Phys. B 22 050511
[21] Bhat P S, Bernstein S D 1998 IEEE Trans. Automatic Control 43 678
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[1] Olfati-Saber R, Murray R M 2004 IEEE Trans. Automatic Control 49 1520
[2] Hong Y G, Hu J P, Gao L X 2006 Automatica 42 1177
[3] Hong Y G, Chen G R, Bushnell L 2008 Automatica 44 846
[4] Ren W, Atkins E 2007 Int. J. Robust Nonlinear Control 17 1002
[5] Lin P, Jia Y M, Yuan S Y 2007 Proceedings of the 26th Chinese Control Conference Zhangjiajie, Hunan, China, July 26-31, 2007 p577
[6] Lin P, Jia Y M 2008 Physica A 387 303
[7] Lin P, Jia Y M, Du J P, Yuan S Y 2008 Asian J. Control 10 254
[8] Tian Y P, Liu C L 2008 IEEE Trans. Autom. Control 53 2122
[9] Tian Y P, Liu C L 2008 Automatica 45 1347
[10] Liu C L, Tian Y P 2009 Int. J. Syst. Sci. 40 627
[11] Lin P, Jia Y M 2009 Automatica 45 2154
[12] Lin P, Jia Y M 2010 IEEE Trans. Automatic Control 55 778
[13] Lin P, Jia Y M 2011 Automatica 47 848
[14] Hu J P, Hong Y G 2007 Chin. Phys. A 374 853
[15] Lin P, Jia Y M 2008 Chin. Phys. A 387 303
[16] Hu J P, Yuan H W 2009 Chin. Phys. B 18 3777
[17] Pei W D, Chen Z Q, Yuan Z Z 2008 Chin. Phys. B 17 373
[18] Marasco A J, Givigi S N, Rabbath C A 2012 American Control Conference Fairmont Queen Elizabeth, Montréal, Canada, June 27-29, 2012 p2004
[19] Li Y M, Guan X P 2009 Chin. Phys. B 18 3355
[20] Zhang W G, Liu J Z, Zeng D L, Hu Y 2013 Chin. Phys. B 22 050511
[21] Bhat P S, Bernstein S D 1998 IEEE Trans. Automatic Control 43 678
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