ABSTRACT This paper investigates the cooperative fencing control problem for a moving target with constant horizontal velocity in three‐dimensional space, employing multiple mobile manipulators. Drawing inspiration from the structural configuration of a multifunctional inverted crane robot prototype, we design a modular agent architecture comprising three core components: a mobile base, a manipulator linkage, and an end effector. To address this challenge, we propose a dual‐layer cooperative control framework consisting of two distributed controllers that operate synergistically. The controllers leverage relative positioning data from both the target and adjacent agents, integrating two complementary mechanisms: (1) an attraction term driving agents toward the target while synchronizing their velocities with the target's motion, and (2) a repulsion term maintaining safe inter‐agent distances. Specifically, the mobile base controller achieves planar target fencing of multiple mobile bases in the horizontal dimension, while the end effector controller extends this capability to full 3D spatial enclosure. The sufficient convergence conditions are rigorously proved through stability analysis and comprehensively verified via numerical simulations.
Shi et al. (Tue,) studied this question.
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