Target Capturing in an Ellipsoidal Region for a Swarm of Double Integrator Agents

In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space dimension. Each agent knows the relative position of the target and has only an estimation of its velocity and acceleration. Given that the estimation errors are bounded by...

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Bibliographic Details
Published in:IEEE/CAA journal of automatica sinica 2022-05, Vol.9 (5), p.801-811
Main Authors: Bono, Antonio, D'Alfonso, Luigi, Fedele, Giuseppe, Gazi, Veysel
Format: Article
Language:English
Subjects:
Accelerated aging
Acceleration
Aerospace electronics
Agents-based systems
Control systems
cooperative control
Double integrators
Estimation error
Integrators
Moving targets
Steady-state
swarms
target-capturing
Uncertainty
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Summary:In this paper we focus on the target capturing problem for a swarm of agents modelled as double integrators in any finite space dimension. Each agent knows the relative position of the target and has only an estimation of its velocity and acceleration. Given that the estimation errors are bounded by some known values, it is possible to design a control law that ensures that agents enter a user-defined ellipsoidal ring around the moving target. Agents know the relative position of the other members whose distance is smaller than a common detection radius. Finally, in the case of no uncertainty about target data and homogeneous agents, we show how the swarm can reach a static configuration around the moving target. Some simulations are reported to show the effectiveness of the proposed strategy.
ISSN:2329-9266
2329-9274
DOI:10.1109/JAS.2022.105551