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Hang Zhong,Yaonan Wang,Zhiqiang Miao,Jianhao Tan,Ling Li,Hui Zhang,Rafael Fierro 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.1
The problem of circumnavigating a moving target in a three dimensional setting by a network of agentswhile avoiding inter-agent collisions is addressed in this paper. A distributed control strategy is proposed for themulti-agent system to achieve three objectives: reaching the target plane with predesigned orientation, circulatingaround the target with prescribed radius, and avoiding collisions among agents. After representing the controlobjectives by three potential functions, the gradient fields of which are orthogonal to each other, the control lawthen is developed using the gradient vector field-based approach. The novelty of the proposed controller lies in theorthogonality of the vector fields, which decouples the control objectives and ensures global asymptotic convergenceto the desired motion, subject to some mild initial condition constraints. The stability and convergence analysis arepresented using Lyapunov tools, and the effectiveness of the proposed control strategy is demonstrated throughnumerical simulations.