Dual-Stage Heterogeneous Multiagent Systems Surrounding Control for a Motional Target
Bowen Xu, Hai-Tao Zhang, Yaozhong Zheng, Yue Wu, Yang Shi
Abstract
This article addresses the dynamic target surrounding control problem for a class of heterogeneous multiagent systems (MASs). To surround a motional target with a time-varying velocity, a distributed observer is established by employing perturbation system analysis, which can simultaneously retrieve both target state and dynamics. Then, a distributed dual-stage cooperative control scheme based on the output regulation principle is proposed to fulfill the even surrounding control mission, i.e., all the heterogeneous agents moving along a common circle around the dynamic target with an identical desired radius and evenly distributed phases. Afterward, an optimal selection protocol of the switching instant between the collective chasing and surrounding stages is provided as well. Significantly, sufficient conditions are derived to guarantee the asymptotical stability of such closed-loop heterogeneous MASs. Finally, numerical simulations are conducted to verify the effectiveness of the proposed surrounding control scheme.