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In this paper, a formation-circumnavigation switching control problem is investigated for multiple heterogeneous omni-directional intelligent navigator (ODIN) systems over an intermittent communication network. First, a distributed finite-time hybrid observer is proposed for each ODIN system to estimate the state information of the target. Then a finite-time formation-circumnavigation controller is designed for each ODIN system. The controller uses the estimated state information of the target as the reference signal. A homogeneous technique is utilized to show that all ODINs can realize a switching formation-circumnavigation movement in finite time under the proposed formation-circumnavigation control strategy. Particularly, the formation-circumnavigation control strategy can ensure smooth switching between formation and circumnavigation for the ODIN systems by simply adjusting a control parameter, which is crucial for economic and security requirements in real applications. Finally, numerical simulations are conducted to illustrate the effectiveness of the proposed formation-circumnavigation switching control strategy.
Hu et al. (Thu,) studied this question.
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