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Volume 8 Issue 10
Oct.  2021

IEEE/CAA Journal of Automatica Sinica

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Y. H. Wang, Y. F. Liu, and Z. Wang, "Theory and Experiments on Enclosing Control of Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1677-1685, Oct. 2021. doi: 10.1109/JAS.2021.1004138
Citation: Y. H. Wang, Y. F. Liu, and Z. Wang, "Theory and Experiments on Enclosing Control of Multi-Agent Systems," IEEE/CAA J. Autom. Sinica, vol. 8, no. 10, pp. 1677-1685, Oct. 2021. doi: 10.1109/JAS.2021.1004138

Theory and Experiments on Enclosing Control of Multi-Agent Systems

doi: 10.1109/JAS.2021.1004138
Funds:  This work was supported in part by the National Natural Science Foundation of China (61703411, 61834004) and the Natural Science Foundation of Shaanxi Province (2017JM6016)
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  • This paper proposes a control strategy called enclosing control. This strategy can be described as follows: the followers design their control inputs based on the state information of neighbor agents and move to specified positions. The convex hull formed by these followers contains the leaders. We use the single-integrator model to describe the dynamics of the agents and proposes a continuous-time control protocol and a sampled-data based protocol for multi-agent systems with stationary leaders with fixed network topology. Then the state differential equations are analyzed to obtain the parameter requirements for the system to achieve convergence. Moreover, the conditions achieving enclosing control are established for both protocols. A special enclosing control with no leader located on the convex hull boundary under the protocols is studied, which can effectively prevent enclosing control failures caused by errors in the system. Moreover, several simulations are proposed to validate theoretical results and compare the differences between the three control protocols. Finally, experimental results on the multi-robot platform are provided to verify the feasibility of the protocol in the physical system.


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    • This paper proposes a control strategy called enclosing control.
    • A continuous-time protocol and a sampled-data based protocol are designed for enclosing control problems.
    • A special enclosing control with no leader located on the convex hull boundary under the protocols is studied.


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