Distributed control of cooperative target enclosing based on reachability and invariance analysis

被引：116

作者：

Lan, Ying ^{[1
]}

Yan, Gangfeng ^{[1
]}

Lin, Zhiyun ^{[1
]}

机构：

[1] Zhejiang Univ, Asus Intelligent Syst Lab, Dept Syst Sci & Engn, Hangzhou 310027, Peoples R China

来源：

SYSTEMS & CONTROL LETTERS | 2010年 / 59卷 / 07期

基金：

中国国家自然科学基金;

关键词：

Cooperative control; Target enclosing; Hybrid control; Unicycles; COORDINATION; MOTION;

D O I：

10.1016/j.sysconle.2010.04.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents a hybrid control approach to the problem of steering a group of unicycle-type mobile robots to reach desired relative positions and orientations with respect to a specific target and other group-mates, which is referred to as the cooperative target enclosing problem. With the idea of having independent motion towards the target without inter-individual interactions in the further range and switching to coordinated motion control in the closer range to the target, reachability and invariance analysis is recalled to yield a hybrid control law using only local available information such that a group of unicycle-type mobile robots achieves a uniform circular motion around the target at equal angular distances from each other. (C) 2010 Elsevier B.V. All rights reserved.

引用

页码：381 / 389

页数：9

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