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Event-triggered encirclement control of multi-agent systems with bearing rigidity

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  • Special Focus on Distributed Cooperative Analysis, Control and Optimization in Networks
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Abstract

In recent years, the problem of multi-agent encirclement has attained much attention and was extensively studied. However, few work consider the factor that the on-board calculation as well as the communication capacity in the multi-agent system is limited. We investigate the encirclement control by employing the newly developed bearing rigidity theory and event-triggered mechanism. Firstly, in order to reduce the onboard loads, the event-triggered mechanism is considered in the framework and further an event-triggered control law based on bearing rigidity is proposed. The input-to-state stability (ISS) of networked agents is also analyzed by using the Lyapunov method and the cyclic-small-gain theory. In addition, the lower bound for the inter-event times is provided. Finally, to verify the efficiency and feasibility of the proposed encirclement control law, numerical experiments are investigated.

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Acknowledgments

This work was supported by National Natural Science Foundation of China (Grant Nos. 61473005, 61403406).

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Authors and Affiliations

  1. College of Mechatronics & Automation, National University of Defense Technology, Changsha, 410073, China

    Yangguang Yu, Zhiwen Zeng, Xiangke Wang & Lincheng Shen

  2. State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Aerospace Engineering, College of Engineering, Peking University, Beijing, 100871, China

    Zhongkui Li

Authors
  1. Yangguang Yu
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  2. Zhiwen Zeng
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  3. Zhongkui Li
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  4. Xiangke Wang
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Corresponding author

Correspondence to Xiangke Wang.

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Yu, Y., Zeng, Z., Li, Z. et al. Event-triggered encirclement control of multi-agent systems with bearing rigidity. Sci. China Inf. Sci. 60, 110203 (2017). https://doi.org/10.1007/s11432-017-9109-9

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  • DOI: https://doi.org/10.1007/s11432-017-9109-9

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