입력 포화가 존재하는 다개체 시스템을 위한 분산 PI 기반 포위제어

초록

This paper studies the control problem of achieving collective behavior in multi-agent systems. In particular, we investigate the problem of enclosing control to achieve stable collective behavior considering the multi-agent systems consists of multiple leader agents and follower agents. The goal of enclosing control is to achieve the collective behavior by controlling the follower agents so that the convex hull formed by the followers encloses the the leader agents. We propose the PI(Proportional-Integral)-based distributed control algorithm to solve the enclosing control problem considering the follower agents with input saturations and the leader agents moving at a constant speed. Based on Lasalle’s invariance principle, we analyze the control parameters and information exchange conditions required to achieve the goal of enclosing control. Finally, we conduct the simulations to verify the validity of the analysis.

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