This paper investigates a target tracking algorithm with time delay based on flocking control. In the system, there exist two types of agents and one moving target. Agents of type I track the target, and agents of type II follow the former. These agents are controlled with a kind of second-order differential equations, and different control inputs are proposed for these agents. The control inputs contain the position and velocity of the agents. Stability analysis is presented by constructing a Lyapunov-Krasovskii function and its derivate. Asymptotical stability condition is derived for the second order system with hybrid agents. Simulation results show that stable flocking is achieved.
Target Tracking Algorithm with Time Delay Based on Flocking Control with Two Types of Agents
2018-08-01
399846 byte
Conference paper
Electronic Resource
English
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