Finite-time Heterogeneous Cyclic Pursuit with Application to Target Interception

by   Dwaipyan Mukherjee, et al.
IIT Bombay

This paper presents a finite-time heterogeneous cyclic pursuit scheme that ensures consensus among agents modelled as integrators. It is shown that for the proposed sliding mode control, even when the gains corresponding to each agent are non-identical, consensus results within a finite-time provided all the gains are positive. An algorithm is presented to compute the consensus value and consensus time for a given set of gains and initial states of the agents. The set of values where consensus can occur, by varying the gains, has been derived and a second algorithm aids in determining the gains that enable consensus at any point in the aforementioned set, within a given finite-time. As an application, the finite-time consensus in line-of-sight (LOS) rates, over a cycle digraph, for a group of interceptors is shown to be effective in ensuring co-operative collision-free interception of a target, for both kinematic and realistic models of the interceptors. Simulations vindicate the theoretical results.


page 1

page 2

page 3

page 4


Consensus tracking in multi agent system with nonlinear and non identical dynamics via event driven sliding modes

In this work, leader follower consensus objective has been addressed wit...

Broadcast Guidance of Agents in Deviated Linear Cyclic Pursuit

In this report we show the emergent behavior of a group of agents, order...

Guidance of Agents in Cyclic Pursuit

This report studies the emergent behavior of systems of agents performin...

Hierarchical Cyclic Pursuit: Algebraic Curves Containing the Laplacian Spectra

The paper addresses the problem of multi-agent communication in networks...

Second-Order Agents on Ring Digraphs

The paper addresses the problem of consensus seeking among second-order ...

A Generalized Discrete-Time Altafini Model

A discrete-time modulus consensus model is considered in which the inter...

Modelling heterogeneous outcomes in multi-agent systems

A broad set of empirical phenomenon in the study of social, economic and...

Please sign up or login with your details

Forgot password? Click here to reset