Year: 2025
Type: article
Abstract: ABSTRACT This article addresses the robust moving target enclosing control problem in multi‐agent systems. Unlike previous studies, our approach handles an uncertain moving target whose trajectory is governed by an exosystem with unknown system dynamics and output functions. Specifically, we develop an adaptive internal‐model‐based observer to asymptotically estimate the target's velocity. Subsequently, we introduce a novel dynamic distributed control protocol that integrates prescribed performance control and sliding mode control techniques. We demonstrate that under this control scheme, the multi‐agent system achieves asymptotic tracking of the target and converges to the desired formation pattern with desired circling radii and separation angles. Finally, a numerical simulation is conducted to demonstrate the effectiveness of the proposed approach.
DOI: 10.1002/rnc.7973
Authors: Boyin Zheng, Lu Liu
Institution: City University of Hong Kong
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: bronze
Award: G770621830
OpenAlex ID: W4409378980