Skip to main content
SpringerLink
Log in

Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance

  • Published:
Journal of Systems Science and Complexity Aims and scope Submit manuscript

Abstract

In this paper, the authors study the cooperative target-fencing problem for n-dimensional systems and a target with a general trajectory. Without using the velocity of the vehicles, a position feedback control law is proposed to fence the general target into the convex hull formed by the vehicles. Specifically, the dynamics of each vehicle is described by a double-integrator system. Two potential functions are designed to guarantee connectivity preservation of the communication network and collision avoidance among the vehicles. The proposed approach can deal with a target whose trajectory is any twice continuously differentiable function of time. The effectiveness of the result is verified by a numerical example.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Drew D S, Multi-agent systems for search and rescue applications, Current Robotics Reports, 2021, 2(2): 189–200.

    Article  Google Scholar 

  2. Mohiuddin A, Tarek T, Zweiri Y, et al., A survey of single and multi-UAV aerial manipulation, Unmanned Systems, 2020, 8(2): 119–47.

    Article  Google Scholar 

  3. Dotoli M, Zgaya H, Russo C, et al., A multi-agent advanced traveler information system for optimal trip planning in a co-modal framework, IEEE Transactions on Intelligent Transportation Systems, 2017, 18(9): 2397–412.

    Article  Google Scholar 

  4. Kopfstedt T, Mukai M, Fujita M, et al., Control of formations of UAVs for surveillance and reconnaissance missions, IFAC Proceedings Volumes, 2008, 41(2): 5161–5166.

    Article  Google Scholar 

  5. Fedele G, D’Alfonso L, and Franzé G, Swarm formation for perimeter surveillance in rectangular strips: A distributed model predictive approach, Journal of the Franklin Institute, 2022, 359(18): 10578–10601.

    Article  MathSciNet  Google Scholar 

  6. Seyboth G S, Wu J, Qin J, et al., Collective circular motion of unicycle type vehicles with nonidentical constant velocities, IEEE Transactions on Control of Network Systems, 2014, 1(2): 167–176.

    Article  MathSciNet  Google Scholar 

  7. Shames I, Dasgupta S, Fidan B, et al., Circumnavigation using distance measurements under slow drift, IEEE Transactions on Automatic Control, 2012, 57(4): 889–903.

    Article  MathSciNet  Google Scholar 

  8. Deghat M, Shames I, Anderson B D O, et al., Localization and circumnavigation of a slowly moving target using bearing measurements, IEEE Transactions on Automatic Control, 2014, 59(8): 2182–2188.

    Article  MathSciNet  Google Scholar 

  9. Kim T H and Sugie T, Cooperative control for target-capturing task based on a cyclic pursuit strategy, Automatica, 2007, 43(8): 1426–1431.

    Article  MathSciNet  Google Scholar 

  10. Yu X and Liu L, Cooperative control for moving-target circular formation of nonholonomic vehicles, IEEE Transactions on Automatic Control, 2017, 62(7): 3448–3454.

    Article  MathSciNet  Google Scholar 

  11. Chen Z, A cooperative target-fencing protocol of multiple vehicles, Automatica, 2019, 107: 591–594.

    Article  MathSciNet  Google Scholar 

  12. Kou L, Chen Z, and Xiang J, Cooperative fencing control of multiple vehicles for a moving target with an unknown velocity, IEEE Transactions on Automatic Control, 2022, 67(2): 1008–1015.

    Article  MathSciNet  Google Scholar 

  13. Kou L, Huang Y, Chen Z, et al., Cooperative fencing control of multiple second-order vehicles for a moving target with and without velocity measurements, International Journal of Robust and Nonlinear Control, 2021, 31(10): 4602–4615.

    Article  MathSciNet  Google Scholar 

  14. Hu B B, Zhang H T, and Shi Y, Cooperative label-free moving target fencing for second-order multi-agent systems with rigid formation, Automatica, 2023, 148: 110788.

    Article  MathSciNet  Google Scholar 

  15. Hu B B, Chen Z, and Zhang H T, Distributed moving target fencing in a regular polygon formation, IEEE Transactions on Control of Network Systems, 2022, 9(1): 210–218.

    Article  MathSciNet  Google Scholar 

  16. Pan Z and Chen B M, Cooperative target fencing for a general target with connectivity preservation, Proceedings of 22nd IFAC World Congress, Yokohama, 2023, 2919–2924.

  17. Francis B A, The linear multivariable regulator problem, SIAM Journal on Control and Optimization, 1977, 15(3): 486–505.

    Article  MathSciNet  Google Scholar 

  18. Han D and Panagou D, Robust multitask formation control via parametric Lyapunov-like barrier functions, IEEE Transactions on Automatic Control, 2019, 64(11): 4439–4453.

    Article  MathSciNet  Google Scholar 

  19. Huang Y, Meng Z, and Dimarogonas D V, Prescribed performance formation control for second-order multi-agent systems with connectivity and collision constraints, Automatica, 2024, 160: 111412.

    Article  MathSciNet  Google Scholar 

  20. Dong Y and Huang J, Flocking with connectivity preservation of multiple double integrator systems subject to external disturbances by a distributed control law, Automatica, 2015, 55: 197–203.

    Article  MathSciNet  Google Scholar 

  21. Dong Y and Huang J, Leader-following connectivity preservation rendezvous of multiple double integrator systems based on position measurement only, IEEE Transactions on Automatic Control, 2014, 59(9): 2598–2603.

    Article  MathSciNet  Google Scholar 

  22. Su Y and Huang J, Cooperative output regulation of linear multi-agent systems, IEEE Transactions on Automatic Control, 2012, 57(4): 1062–1066.

    Article  MathSciNet  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Hong Kong, China

    Zini Pan & Ben M. Chen

Authors
  1. Zini Pan
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ben M. Chen
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zini Pan.

Ethics declarations

The authors declare no conflict of interest.

Additional information

This research was supported in part by the Research Grants Council of Hong Kong SAR under Grant Nos. 14206821 and 14217922, and in part by the Hong Kong Centre For Logistics Robotics (HKCLR).

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Pan, Z., Chen, B.M. Cooperative Target Fencing of Multiple Vehicles for a General Target with Connectivity Preservation and Collision Avoidance. J Syst Sci Complex 37, 136–151 (2024). https://doi.org/10.1007/s11424-024-3428-1

Download citation

  • Received:

  • Revised:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11424-024-3428-1

Keywords

Search

Navigation