Distributed coordination strategy for target-enclosing operations by particle swarms

초록

This paper presents a methodology for group coordination and cooperative control of n agents to achieve a target-enclosing operation in three-dimensional (3D) space. In the developed coordination strategy, multiple agents are controlled in a distributed manner to converge to an assigned formation while tracking the target object moving in 3D space. The distinctive features of the proposed method are as follows: First, it is a simple, memoryless control scheme. Second, no communication mechanism between agents is necessary, and thus it is inherently a distributed control strategy. From these viewpoints, it seems easy to implement. Further, it appears to be a practical method for the following reasons: (i) it is robust against any finite number of transient measurement errors and (ii) it can achieve the control objectives even when constraints on the control input exist. We also present a scheme to decrease the possibility of a collision between agents. Numerical examples are given to illustrate the efficacy of the proposed method and the achievement of an assigned formation in 3D space. © 2015 World Scientific and Engineering Academy and Society. All rights reserved.

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