Circumnavigation Control Of Multi-agent System Based On Incomplete Information In Three-Dimensional Space

With the progress of The Times,the circumnavigation control problem of multiagent system has attracted more and more researchers' attention due to its extensive application in joint monitoring,joint strike,target tracking and environmental investigation.In the circumnavigation control problem of multi-agent system,the agents should not only to realize the cooperative movement overall,but also to achieve the task of protecting or attacking the target through the circumnavigation of the target.The core of the circumnavigation control problem of multi-agent system is to design the control protocol through the detection of the target and the information interaction between the agents,to approach the target and form a certain formation around the target.However,in practical application,there are many limitations on target detection.It is not easy to obtain all the location information of target.Hence,in this paper,we investigated the location and circumnavigation of unknown targets by multi-agent systems in threedimensional space.It is assumed that the agents can only detect the bearing angle of the target.Firstly,considering the characteristics of the three-dimensional space,the circumnavigation mode of the multi-agent system is optimized in this paper.The spherical latitude circumnavigation and spherical longitude circumnavigation is proposed for a single target in three-dimensional space to prevent target escape.Through the latitude angle deviation,the controller is designed to realize spherical latitude circumnavigation.In the spherical longitude circumnavigation,the normal vector coordinator is designed by the longitude deviation to achieve the agent orbit plane deviation.Based on the normal vector coordinator,the controller of the spherical longitude circumnavigation mode is designed.The control theory and mathematical tools such as Lyapunov stability theorem are used to prove the effectiveness and stability of the above algorithm.Secondly,the solution of multi-target distributed localization and circumnavigation by a multi-agent system based on bearing-only measurement in three-dimensional space is given in this paper.It is assumed that the agent can only detect the bearing information of the neighbor targets.First,the target position estimator is designed to make each agent gradually estimate the position of the neighbor targets through its own motion compensation;then,based on the target position estimator,a distributed target center estimator is proposed;finally,based on the target position estimator and the target center estimator,the controller is designed to make the agent circumnavigate all targets around the center of the multiple targets.The control theory and mathematical tools such as Lyapunov stability theorem are used to prove the effectiveness and stability of the above algorithm.Finally,numerical simulations are build in Simulink of MATLAB to verify the feasibility and effectiveness of the proposed algorithm.The algorithm proposed in this paper has certain practical and military application value and can be used for the exploration of unknown targets in complex terrain,especially for the situation where unmanned devices cannot use GPS.