TY - GEN
T1 - Distributed formation control for target-enclosing operations based on a cyclic pursuit strategy
AU - Hara, Shinji
AU - Kim, Tae Hyoung
AU - Hori, Yutaka
PY - 2008
Y1 - 2008
N2 - This paper studies a design methodology of a distributed cooperative controller for target-enclosing operations by multiple dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for large-scale linear systems with generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Simulation examples illustrate its distinctive features and the achievement of a desired pursuit pattern.
AB - This paper studies a design methodology of a distributed cooperative controller for target-enclosing operations by multiple dynamic agents. To this end, we first present an on-line path generator design method based on a cyclic pursuit scheme. Then, we provide the stability condition which the developed path generator should satisfy. This condition is derived based on a simple stability analysis method for large-scale linear systems with generalized frequency variable. The formation control scheme combined with a cyclic pursuit based distributed on-line path generator satisfying the derived stability condition guarantees the required global convergence property with theoretical rigor. Simulation examples illustrate its distinctive features and the achievement of a desired pursuit pattern.
KW - Distributed control and estimation
KW - Multi-agent systems
UR - http://www.scopus.com/inward/record.url?scp=79961019338&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=79961019338&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.1748
DO - 10.3182/20080706-5-KR-1001.1748
M3 - Conference contribution
AN - SCOPUS:79961019338
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -