Stability of a class of multi-agent tracking systems with unstable subsystems

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dc.contributor.authorDong, Lijing
dc.contributor.authorChai, Senchun
dc.contributor.authorZhang, Baihai
dc.contributor.authorNguang, S. K.
dc.contributor.authorSavvaris, Al
dc.date.accessioned2016-08-11T17:52:29Z
dc.date.available2016-08-11T17:52:29Z
dc.date.issued2016-06-30
dc.description.abstractIn this work, we pre-deploy a large number of smart agents to monitor an area of interest. This area could be divided into many Voronoi cells by using the knowledge of Voronoi diagram and every Voronoi site agent is responsible for monitoring and tracking the target in its cell. Then, a cooperative relay tracking strategy is proposed such that during the tracking process, when a target enters a new Voronoi cell, this event triggers the switching of both tracking agents and communication topology. This is significantly different from the traditional switching topologies. In addition, during the tracking process, the topology and tracking agents switch, which may lead the tracking system to be stable or unstable. The system switches either among consecutive stable subsystems and consecutive unstable subsystems or between stable and unstable subsystems. The objective of this paper is to design a tracking strategy guaranteeing overall successful tracking despite the existence of unstable subsystems. We also address extended discussions on the case where the dynamics of agents are subject to disturbances and the disturbance attenuation level is achieved. Finally, the proposed tracking strategy is verified by a set of simulations.en_UK
dc.identifier.citationDong L, Chai S, Zhang B, Nguang SK, Savvaris A, Stability of a class of multi-agent tracking systems with unstable subsystems, IEEE Transactions on Cybernetics, Vol. 47, Issue 8, August 2017, pp. 2193-2202en_UK
dc.identifier.issn2168-2267
dc.identifier.urihttp://dx.doi.org/10.1109/TCYB.2016.2581830
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/10281
dc.language.isoenen_UK
dc.publisherIEEEen_UK
dc.rightsAttribution-NonCommercial 4.0 International
dc.rights.urihttp://creativecommons.org/licenses/by-nc/4.0/
dc.subjectTracking strategyen_UK
dc.subjectSwitched multi-agent systemsen_UK
dc.subjectVoronoi diagramen_UK
dc.subjectUnstable subsystemsen_UK
dc.titleStability of a class of multi-agent tracking systems with unstable subsystemsen_UK
dc.typeArticleen_UK

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