哈尔滨工业大学（深圳）学术讲座

演讲人Speaker：Gang Feng教授

题目Title: Distributed Entrapping Control of Multi-Agent Systems

with Bearing Measurements

时间Date：2024年 4月 19日       Time：上午 10：30 ~ 11：15

地点Venue： A 栋 507  室  

内容摘要Abstract：

In this talk we consider distributed entrapping control of multi-agents systems based on bearing measurements. A time-varying entrapping formation with a prescribed shape is adopted, and such a formation allows agents to move even in restricted areas while still entrapping the target. A distributed entrapping control framework based on a leader-follower structure is developed, which includes formation shape observers, relative position estimators, and distributed controllers. It is shown that the stability of the resulting closed loop system is guaranteed if its so-called bearing observability conditions are satisfied. Since the entrapping formation is determined by the trajectories of the leaders, we further characterize the sufficient conditions on the trajectories of the leaders such that the bearing observability conditions of the closed-loop system are always satisfied, and the estimation errors and the formation tracking errors converge to zero asymptotically. Simulations verify the effectiveness of the proposed control framework.

个人简介(About the speaker):

Gang Feng received the B.Eng and M.Eng. Degrees in Automatic Control from Nanjing Aeronautical Institute, China in 1982 and in 1984 respectively, and the Ph.D. degree in Electrical Engineering from the University of Melbourne, Australia in 1992.

Professor Feng was a Lecturer/Senior Lecturer at University of New South Wales, 1992-1999. He has been with City University of Hong Kong since 2000, where he is now a Chair Professor of Mechatronic Engineering and the director of Centre for Robotics and Automation. He has received the IEEE Computational Intelligence Society Fuzzy Systems Pioneer Award, the IEEE Transactions on Fuzzy Systems Outstanding Paper Award, the Outstanding Research Award and President Award of City University of Hong Kong, Alexander von Humboldt fellowship, and several best conference paper awards. He is listed as a SCI highly cited researcher by Clarivate Analytics since 2016. His research interests include intelligent systems and control, networked control systems, and multi-agent systems and control.

Professor Feng is a fellow of IEEE. He has been an Associate Editor of IEEE Trans. Automatic Control, IEEE Trans. Fuzzy Systems, IEEE Trans. Systems, Man, & Cybernetics, Mechatronics, Journal of Systems Science & Complexity, Journal of Guidance, Navigation & Control, and Journal of Control Theory and Applications. He is also on the advisory board of Unmanned Systems.