Swarm formation for perimeter surveillance in rectangular strips: a distributed model predictive approach |
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| Institution: | 1. DIMES Department, Università della Calabria, Via Pietro Bucci, Cubo 42-C, Rende, CS 87036, Italy;2. DIMEG Department, Università della Calabria, Via Pietro Bucci, Cubo 42-C, Rende, CS 87036, Italy;1. School of Science, Xi’an University of Architecture and Technology, Xi’an 710055, PR China;2. School of Mathematics and Statistics, Xi’an Jiaotong University, Xi’an 710049, PR China;1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, Shandong, 266520, China;2. School of Mathematical Sciences, Liaocheng University, Liaocheng, Shandong, 252059, China;3. School of Automation, Nanjing University of Information Science and Technology, Nanjing, Jiangsu, 210044, China;1. School of Automation, Central South University, Changsha, 410083, China;2. Science and Technology on Space Physics Laboratory, Beijing, 100076, China;3. Research Institute of Aerospace Technology, Central South University, Changsha, 410083, China;1. School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China;2. Key Laboratory of Knowledge Automation for Industrial Processes, Ministry of Education, Beijing 100083, China |
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| Abstract: | In this paper, a distributed control architecture is presented for addressing the cooperative perimeter surveillance of rectangular areas for multi-agent system whose dynamics is described by double integrator models subject to exogenous bounded disturbances. In particular, a novel methodology to generate proper state trajectories of a swarm of agents is provided and then exploited as references for the underlying model predictive controllers bank. Specifically, the swarm is first driven along the perimeter of a rectangular strip and next imposed to enter a given containment region while remaining simultaneously outside a forbidden region around a prescribed target. Steady-state conditions are analyzed and sufficient conditions derived in terms of the control law parameters. Simulation results put in light the main properties of the control architecture that is designed to adequately switch between two different distributed algorithms in order to guarantee constraints satisfaction within the capturing region despite any disturbance realization. |
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