Work

Formation Control of Multiple Elliptical Agents via Distributed Reduced‐Order Observer With Limited Communication Ranges

Year: 2025

Type: article

Abstract: ABSTRACT This paper is devoted to studying the formation and tracking problem of an unknown target utilizing only partial output information from the target. Each agent is modeled as an ellipse, serving to simulate the agent's shape and create safety zones to prevent collisions during the movement. Specifically, by utilizing the partial output information of the target, a distributed reduced‐order observer is created to estimate the target's state. Furthermore, a formation control algorithm is proposed based on the separation conditions of ellipses and the estimated state to track the target system. Leveraging LaSalle's invariance principle, it is demonstrated that the unknown mobile target can be tracked in formation without collisions. Finally, the effectiveness of the proposed algorithm is ultimately validated through simulation examples.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70115

Authors: Jun Chi, Xiaoling Wang, Housheng Su

Institutions: Huazhong University of Science and Technology, Nanjing University of Posts and Telecommunications

Language: English

Topic: Distributed Control Multi-Agent Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: bronze

Funders: National Natural Science Foundation of China, Natural Science Foundation of Hubei Province, Fundamental Research Funds for the Central Universities