A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 10 Issue 9
Sep.  2023

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 15.3, Top 1 (SCI Q1)
    CiteScore: 23.5, Top 2% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2023  >  10(9): 1860-1870
B. Y. Zheng, C. Song, and L. Liu, “Cyclic-pursuit-based circular formation control of mobile agents with limited communication ranges and communication delays,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 9, pp. 1860–1870, Sept. 2023. doi: 10.1109/JAS.2023.123576
Citation: B. Y. Zheng, C. Song, and L. Liu, “Cyclic-pursuit-based circular formation control of mobile agents with limited communication ranges and communication delays,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 9, pp. 1860–1870, Sept. 2023. doi: 10.1109/JAS.2023.123576
shu

Cyclic-Pursuit-Based Circular Formation Control of Mobile Agents with Limited Communication Ranges and Communication Delays

doi: 10.1109/JAS.2023.123576
Funds:  This work was supported in part by the National Natural Science Foundation of China (61773327, 62273182), the Research Grants Council of the Hong Kong Special Administrative Region of China (CityU/11217619), and the Fundamental Research Funds for the Central Universities (30921011213)
More Information
    Abstract
  • This article addresses the circular formation control problem of a multi-agent system moving on a circle in the presence of limited communication ranges and communication delays. To minimize the number of communication links, a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information. In contrast to existing works, we propose a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously. A new framework based on the admissible upper bound of the formation error is established so that both connectivity maintenance and order preservation can be achieved at the same time. It is shown that the multi-agent system can be driven to the desired circular formation as time goes to infinity under the proposed controller. Finally, the effectiveness of the proposed method is illustrated by some simulation examples.

     

    • FullText(HTML)
  • loading
    • References(36)
  • [1]
    G.-P. Liu and S. Zhang, “A survey on formation control of small satellites,” Proceedings of the IEEE, vol. 106, no. 3, pp. 440–457, 2018. doi: 10.1109/JPROC.2018.2794879
    [2]
    A. Bono, L. D’Alfonso, G. Fedele, and V. Gazi, “Target capturing in an ellipsoidal region for a swarm of double integrator agents,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 5, pp. 801–811, 2022. doi: 10.1109/JAS.2022.105551
    [3]
    C. Song, L. Liu, G. Feng, and S. Xu, “Coverage control for heterogeneous mobile sensor networks on a circle,” Automatica, vol. 63, pp. 349–358, 2016. doi: 10.1016/j.automatica.2015.10.044
    [4]
    M. Pavone and E. Frazzoli, “Decentralized policies for geometric pattern formation and path coverage,” Journal of Dynamic Systems,Measurement,and Control, vol. 129, no. 5, pp. 633–643, 2007. doi: 10.1115/1.2767658
    [5]
    T.-H. Kim and T. Sugie, “Cooperative control for target-capturing task based on a cyclic pursuit strategy,” Automatica, vol. 43, no. 8, pp. 1426–1431, 2007. doi: 10.1016/j.automatica.2007.01.018
    [6]
    Q. Wang, Y. Wang, and H. Zhang, “The formation control of multi-agent systems on a circle,” IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 148–154, 2018. doi: 10.1109/JAS.2016.7510022
    [7]
    J. A. Marshall, M. E. Broucke, and B. A. Francis, “Formations of vehicles in cyclic pursuit,” IEEE Trans. Automatic Control, vol. 49, no. 11, pp. 1963–1974, 2004. doi: 10.1109/TAC.2004.837589
    [8]
    A. Sinha and D. Ghose, “Generalization of nonlinear cyclic pursuit,” Automatica, vol. 43, no. 11, pp. 1954–1960, 2007. doi: 10.1016/j.automatica.2007.03.024
    [9]
    W. Yao, H. Lu, Z. Zeng, J. Xiao, and Z. Zheng, “Distributed static and dynamic circumnavigation control with arbitrary spacings for a heterogeneous multi-robot system,” Journal of Intelligent &Robotic Systems, vol. 94, no. 3, pp. 883–905, 2019.
    [10]
    C. Wang, G. Xie, and M. Cao, “Forming circle formations of anonymous mobile agents with order preservation,” IEEE Trans. Automatic Control, vol. 58, no. 12, pp. 3248–3254, 2013. doi: 10.1109/TAC.2013.2263653
    [11]
    C. Wang and G. Xie, “Limit-cycle-based decoupled design of circle formation control with collision avoidance for anonymous agents in a plane,” IEEE Trans. Automatic Control, vol. 62, no. 12, pp. 6560–6567, 2017. doi: 10.1109/TAC.2017.2712758
    [12]
    Y. Wang, T. Shen, C. Song, and Y. Zhang, “Circle formation control of second-order multi-agent systems with bounded measurement errors,” Neurocomputing, vol. 397, pp. 160–167, 2020. doi: 10.1016/j.neucom.2020.02.037
    [13]
    X. Yu, X. Xu, L. Liu, and G. Feng, “Circular formation of networked dynamic unicycles by a distributed dynamic control law,” Automatica, vol. 89, pp. 1–7, 2018. doi: 10.1016/j.automatica.2017.11.021
    [14]
    X. Peng, K. Guo, X. Li, and Z. Geng, “Cooperative moving-target enclosing control for multiple nonholonomic vehicles using feedback linearization approach,” IEEE Trans. Systems,Man,and Cybernetics: Systems, vol. 51, no. 8, pp. 4929–4935, 2019.
    [15]
    A. Sen, S. R. Sahoo, and M. Kothari, “Circumnavigation on multiple circles around a nonstationary target with desired angular spacing,” IEEE Transactions on Cybernetics, vol. 51, no. 1, pp. 222–232, 2019.
    [16]
    H. Yang and Y. Wang, “Cyclic pursuit-fuzzy PD control method for multi-agent formation control in 3D space,” International J. Fuzzy Systems, vol. 23, pp. 1904–1913, 2021. doi: 10.1007/s40815-020-00892-z
    [17]
    A. M. Bruckstein, N. Cohen, and A. Efrat, “Ants, crickets and frogs in cyclic pursuit,” Center Intell. Syst., Technion-Israel Inst. Technol, Haifa, Israel, Tech. Rep. 9105, 1991.
    [18]
    M. Ji and M. Egerstedt, “Distributed coordination control of multiagent systems while preserving connectedness,” IEEE Trans. Robotics, vol. 23, no. 4, pp. 693–703, 2007. doi: 10.1109/TRO.2007.900638
    [19]
    A. Gasparri, L. Sabattini, and G. Ulivi, “Bounded control law for global connectivity maintenance in cooperative multirobot systems,” IEEE Trans. Robotics, vol. 33, no. 3, pp. 700–717, 2017. doi: 10.1109/TRO.2017.2664883
    [20]
    C. Song, L. Liu, and S. Xu, “Circle formation control of mobile agents with limited interaction range,” IEEE Trans. Automatic Control, vol. 64, no. 5, pp. 2115–2121, 2019. doi: 10.1109/TAC.2018.2866985
    [21]
    J. Wang, S. Li, and Y. Zou, “Connectivity-maintaining consensus of multi-agent systems with communication management based on predictive control strategy,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 12, pp. 1–11, 2022. doi: 10.1109/JAS.2022.106118
    [22]
    J.-P. Richard, “Time-delay systems: an overview of some recent advances and open problems,” Automatica, vol. 39, no. 10, pp. 1667–1694, 2003. doi: 10.1016/S0005-1098(03)00167-5
    [23]
    R. Olfati-Saber and R. Murray, “Consensus problems in networks of agents with switching topology and time-delays,” IEEE Trans. Automatic Control, vol. 49, no. 9, pp. 1520–1533, 2004. doi: 10.1109/TAC.2004.834113
    [24]
    U. Munz, A. Papachristodoulou, and F. Allgower, “Consensus in multi-agent systems with coupling delays and switching topology,” IEEE Trans. Automatic Control, vol. 56, no. 12, pp. 2976–2982, 2011. doi: 10.1109/TAC.2011.2161052
    [25]
    P. Lin and Y. Jia, “Average consensus in networks of multi-agents with both switching topology and coupling time-delay,” Physica A: Statistical Mechanics and its Applications, vol. 387, no. 1, pp. 303–313, 2008. doi: 10.1016/j.physa.2007.08.040
    [26]
    J. Hu and Y. Hong, “Leader-following coordination of multi-agent systems with coupling time delays,” Physica A: Statistical Mechanics and its Applications, vol. 374, no. 2, pp. 853–863, 2007. doi: 10.1016/j.physa.2006.08.015
    [27]
    Y. Qu, H. Xu, C. Song, and Y. Fan, “Coverage control for mobile sensor networks with time-varying communication delays on a closed curve,” Journal of the Franklin Institute, vol. 357, no. 17, pp. 12109–12124, 2020. doi: 10.1016/j.jfranklin.2020.08.005
    [28]
    H. Lu, W. Yao, and L. Chen, “Distributed multi-robot circumnavigation with dynamic spacing and time delay,” Journal of Intelligent &Robotic Systems, vol. 99, no. 1, pp. 165–182, 2020.
    [29]
    V. L. Freitas, S. Yanchuk, H. L. Grande, and E. E. Macau, “The effects of time-delay and phase lags on symmetric circular formations of mobile agents,” The European Physical Journal Special Topics, vol. 230, no. 14, pp. 2857–2864, 2021.
    [30]
    B. Ning and Q.-L. Han, “Order-preserved preset-time cooperative control: A monotone system-based approach,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 9, pp. 1603–1611, 2022. doi: 10.1109/JAS.2022.105440
    [31]
    D. Zelazo, A. Rahmani, and M. Mesbahi, “Agreement via the edge laplacian,” in Proc. 46th IEEE Conf. Decision and Control, 2007, pp. 2309–2314.
    [32]
    M. Lu, “Rendezvous with connectivity preservation of mobile agents subject to uniform time-delays,” Automatica, vol. 88, pp. 31–37, 2018. doi: 10.1016/j.automatica.2017.11.003
    [33]
    Y. Yang, Y. Shi, and D. Constantinescu, “Connectivity-preserving synchronization of time-delay euler–lagrange networks with bounded actuation,” IEEE Trans. Cybernetics, vol. 51, no. 7, pp. 3469–3482, 2021. doi: 10.1109/TCYB.2019.2914403
    [34]
    S. A. Ajwad, E. Moulay, M. Defoort, T. Ménard, and P. Coirault, “Collision-free formation tracking of multi-agent systems under communication constraints,” IEEE Control Systems Letters, vol. 5, no. 4, pp. 1345–1350, 2021. doi: 10.1109/LCSYS.2020.3036809
    [35]
    X. Ge, Q.-L. Han, J. Wang, and X.-M. Zhang, “A scalable adaptive approach to multi-vehicle formation control with obstacle avoidance,” IEEE/CAA J. Autom. Sinica, vol. 9, no. 6, pp. 990–1004, 2022. doi: 10.1109/JAS.2021.1004263
    [36]
    J.-J. E. Slotine and W. Li, Applied Nonlinear Control. Englewood Cliffs, New Jersey: Prentice-Hall, 1991.
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(4)  / Tables(2)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (468) PDF downloads(140) Cited by()

    Highlights

    • In this article, a novel cyclic-pursuit-based circular formation control scheme is proposed for MASs with heterogeneous communication ranges and time-varying communication delays.
    • To minimize the number of communication links, a novel distributed controller based on a cyclic pursuit strategy is developed in which each agent needs only its leading neighbour’s information. To the best of our knowledge, this work is the first one to address the unevenly-space circular formation problem with order preservation using a cyclic pursuit strategy
    • In contrast to existing works, we proposed a set of new potential functions to deal with heterogeneous communication ranges and communication delays simultaneously. More specifically, a Lyapunov functional is proposed to analyse the delayed system. A sufficient condition for the control gain is then derived to guarantee that this functional is non-increasing
    • Finally, a new framework based on the admissible upper bound of the formation error is developed to simultaneously guarantee connectivity maintenance and order preservation. Under this framework, the admissible upper bound for the formation error is designed such that the Euclidean distance between neighbouring agents is guaranteed to be both greater than zero and less than their communication range. Then, network connectivity and order preservation can be achieved by simply keeping the absolute value of the formation error within the designed admissible upper bound

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return