Stability of a Class of Multiagent Tracking Systems with Unstable Subsystems

Lijing Dong, Senchun Chai*, Baihai Zhang, Sing Kiong Nguang, Al Savvaris

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)

Abstract

In this paper, we predeploy 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.

Original languageEnglish
Article number7502100
Pages (from-to)2193-2202
Number of pages10
JournalIEEE Transactions on Cybernetics
Volume47
Issue number8
DOIs
Publication statusPublished - Aug 2017

Keywords

  • Switched multiagent systems
  • Voronoi diagram
  • tracking strategy
  • unstable subsystems

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