Radar deception problems serve as a motivation to address the key issue of feasibility in trajectory planning for constrained dynamics of multi-agent systems. In a recent paper, Jayasuriya et al. presents an algorithm which claims to produce a dynamically feasible reference trajectory in real time. However, there was no proof provided for the proposed control strategy. This paper work through that algorithm; and, with a slight modification, provides some conditions on configuration parameters and the desired trajectory such that the proposed control guarantees consensus. These conditions dictate certain conditions on the initial configuration of the agents, consistent with the limitations on their actuators. Simulations support the idea that if the initial configuration along the final team goal is in admissible regions, the agents would always reach a consensus and maintain the formation.
- Dynamic Systems and Control Division
Guaranteed Consensus in Radar Deception With a Phantom Track
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Hajieghrary, H, & Jayasuriya, S. "Guaranteed Consensus in Radar Deception With a Phantom Track." Proceedings of the ASME 2013 Dynamic Systems and Control Conference. Volume 2: Control, Monitoring, and Energy Harvesting of Vibratory Systems; Cooperative and Networked Control; Delay Systems; Dynamical Modeling and Diagnostics in Biomedical Systems; Estimation and Id of Energy Systems; Fault Detection; Flow and Thermal Systems; Haptics and Hand Motion; Human Assistive Systems and Wearable Robots; Instrumentation and Characterization in Bio-Systems; Intelligent Transportation Systems; Linear Systems and Robust Control; Marine Vehicles; Nonholonomic Systems. Palo Alto, California, USA. October 21–23, 2013. V002T20A005. ASME. https://doi.org/10.1115/DSCC2013-4034
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