Radial expansion-contraction control of multi-agent systems

Abstract

This paper investigates radial expansion-contraction control of second-order multi-agent systems relative to a group of targets, which can be stationary or moving. Formal definition of radial expansion-contraction control is introduced. Then, a central estimator with parameter in differential form is constructed. Based on the proposed estimator, the state feedback control protocol is designed to achieve the radial expansion-contraction control for the target group. Furthermore, the convergency analysis of the designed protocol is given. Finally, simulation studies are carried out for radial expansion-contraction control problems by using the proposed method.