For the control problem of football robots enclosing football, this paper proposes a control strategy called enclosing control. We consider the collection of all robots and football as a multi-agent system, and use the single-integrator to describe the dynamic model of the agent. For continuous/discrete-time cases of multi-agent systems with fixed target, we propose a continuous-time control protocol and a sampled-data based protocol. By solving differential equations, the parameter requirements for the system to achieve convergence are obtained. Then the requirements of the network topology to achieve closed control are given. Finally, the system simulation results under the two protocols are proposed to verify the results of mathematical derivation.
Multi-agent System Enclosing Control Algorithm
Lect. Notes Electrical Eng.
2021-10-30
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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