Formation–Circumnavigation Switching Control of Multiple ODIN Systems via Finite-Time Intermittent Control Strategies

Abstract

In this article, a formation–circumnavigation switching control problem is investigated for multiple heterogeneous omnidirectional intelligent navigator (ODIN) systems over an intermittent communication network. First, a distributed finite-time hybrid observer is proposed for each ODIN system to estimate the state information of the target. Then, a finite-time formation–circumnavigation controller is designed for each ODIN system. The controller uses the estimated state information of the target as the reference signal. A homogeneous technique is utilized to show that all ODINs can realize a switching formation–circumnavigation movement in finite time under the proposed formation–circumnavigation control strategy. Particularly, the formation–circumnavigation control strategy can ensure smooth switching between formation and circumnavigation for the ODIN systems by simply adjusting a control parameter, which is crucial for economic and security requirements in real applications. Finally, numerical simulations are conducted to illustrate the effectiveness of the proposed formation–circumnavigation switching control strategy.