{"id":"https://openalex.org/W3005158270","doi":"https://doi.org/10.1109/access.2020.2971729","title":"Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints","display_name":"Distributed Multi-Target Rotating Encirclement Control of Second-Order Multi-Agent Systems With Nonconvex Input Constraints","publication_year":2020,"publication_date":"2020-01-01","ids":{"openalex":"https://openalex.org/W3005158270","doi":"https://doi.org/10.1109/access.2020.2971729","mag":"3005158270"},"language":"en","primary_location":{"id":"doi:10.1109/access.2020.2971729","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971729","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984341.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5059876679","display_name":"Tengfei Zhang","orcid":"https://orcid.org/0000-0003-2746-2099"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tengfei Zhang","raw_affiliation_strings":["Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-2746-2099","affiliations":[{"raw_affiliation_string":"Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090467393","display_name":"Jianheng Ling","orcid":"https://orcid.org/0000-0002-7367-2786"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianheng Ling","raw_affiliation_strings":["Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-7367-2786","affiliations":[{"raw_affiliation_string":"Seventh Research Division and the Center for Information and Control, School of Automation Science and Electrical Engineering, Beihang University (BUAA), Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057660244","display_name":"Lipo Mo","orcid":"https://orcid.org/0000-0001-6284-889X"},"institutions":[{"id":"https://openalex.org/I179026463","display_name":"Beijing Technology and Business University","ror":"https://ror.org/013e0zm98","country_code":"CN","type":"education","lineage":["https://openalex.org/I179026463"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lipo Mo","raw_affiliation_strings":["School of Mathematics and Statistics, Beijing Technology and Business University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-6284-889X","affiliations":[{"raw_affiliation_string":"School of Mathematics and Statistics, Beijing Technology and Business University, Beijing, China","institution_ids":["https://openalex.org/I179026463"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.8104,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":{"value":0.74372717,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"8","issue":null,"first_page":"27624","last_page":"27633"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9861999750137329,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9732999801635742,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/correctness","display_name":"Correctness","score":0.7617095708847046},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5654808282852173},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5546704530715942},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5116991996765137},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4606691598892212},{"id":"https://openalex.org/keywords/order","display_name":"Order (exchange)","score":0.4588644206523895},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.43303412199020386},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4281049966812134},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.42421793937683105},{"id":"https://openalex.org/keywords/domain","display_name":"Domain (mathematical analysis)","score":0.4222612679004669},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3682151138782501},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27146288752555847},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.17200836539268494},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09450441598892212},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08425292372703552},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06953945755958557}],"concepts":[{"id":"https://openalex.org/C55439883","wikidata":"https://www.wikidata.org/wiki/Q360812","display_name":"Correctness","level":2,"score":0.7617095708847046},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5654808282852173},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5546704530715942},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5116991996765137},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4606691598892212},{"id":"https://openalex.org/C182306322","wikidata":"https://www.wikidata.org/wiki/Q1779371","display_name":"Order (exchange)","level":2,"score":0.4588644206523895},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.43303412199020386},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4281049966812134},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.42421793937683105},{"id":"https://openalex.org/C36503486","wikidata":"https://www.wikidata.org/wiki/Q11235244","display_name":"Domain (mathematical analysis)","level":2,"score":0.4222612679004669},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3682151138782501},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27146288752555847},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.17200836539268494},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09450441598892212},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08425292372703552},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06953945755958557},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2020.2971729","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971729","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:06fec30398cc4fd2871baafd50b6ae24","is_oa":true,"landing_page_url":"https://doaj.org/article/06fec30398cc4fd2871baafd50b6ae24","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 8, Pp 27624-27633 (2020)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2020.2971729","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2020.2971729","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/8948470/08984341.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3219187101","display_name":null,"funder_award_id":"Z180005","funder_id":"https://openalex.org/F4320322919","funder_display_name":"Natural Science Foundation of Beijing Municipality"}],"funders":[{"id":"https://openalex.org/F4320322919","display_name":"Natural Science Foundation of Beijing Municipality","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3005158270.pdf","grobid_xml":"https://content.openalex.org/works/W3005158270.grobid-xml"},"referenced_works_count":40,"referenced_works":["https://openalex.org/W1523281138","https://openalex.org/W1845083291","https://openalex.org/W1981209947","https://openalex.org/W2017432132","https://openalex.org/W2040984827","https://openalex.org/W2068657768","https://openalex.org/W2085207353","https://openalex.org/W2115368667","https://openalex.org/W2129922606","https://openalex.org/W2135645150","https://openalex.org/W2145548886","https://openalex.org/W2166184893","https://openalex.org/W2201499578","https://openalex.org/W2343089421","https://openalex.org/W2372306012","https://openalex.org/W2490503364","https://openalex.org/W2517192452","https://openalex.org/W2560148479","https://openalex.org/W2726893106","https://openalex.org/W2746361429","https://openalex.org/W2767959638","https://openalex.org/W2773098830","https://openalex.org/W2790425074","https://openalex.org/W2799475528","https://openalex.org/W2807734698","https://openalex.org/W2885083199","https://openalex.org/W2893086598","https://openalex.org/W2900457719","https://openalex.org/W2904413495","https://openalex.org/W2912852556","https://openalex.org/W2944610057","https://openalex.org/W2962920847","https://openalex.org/W2963972481","https://openalex.org/W2998904017","https://openalex.org/W3001346041","https://openalex.org/W3010123037","https://openalex.org/W3012932339","https://openalex.org/W3104886886","https://openalex.org/W6746568374","https://openalex.org/W6774236569"],"related_works":["https://openalex.org/W3008339103","https://openalex.org/W1667647204","https://openalex.org/W2404647514","https://openalex.org/W4247536566","https://openalex.org/W4241418540","https://openalex.org/W2018477250","https://openalex.org/W3119814709","https://openalex.org/W1508895727","https://openalex.org/W2725786787","https://openalex.org/W1590965489"],"abstract_inverted_index":{"This":[0],"paper":[1],"investigates":[2],"the":[3,15,34,41,57,62,73,76,95,110,119,123,140,152],"collective":[4],"multi-target":[5,77,85],"rotating":[6,46,78,86],"encirclement":[7,79,87],"formation":[8,97],"problem":[9,120],"of":[10,75,112,156],"second-order":[11],"multi-agent":[12],"systems,":[13],"where":[14],"inputs":[16,136],"are":[17,48,148],"constrained":[18],"in":[19,139],"nonconvex":[20,124,142],"sets.":[21,143],"The":[22],"objective":[23],"requires":[24],"that":[25],"all":[26,92,134],"agents":[27,93],"rotate":[28],"around":[29],"targets'":[30,42],"geometric":[31,43],"center":[32,44],"with":[33,61,72,109],"desired":[35,96],"radius":[36,47],"and":[37,45,81,154],"angular":[38],"velocity.":[39],"Firstly,":[40],"calculated":[49],"by":[50,122],"two":[51,68],"distributed":[52,84],"fixed-time":[53],"estimators":[54],"based":[55],"on":[56],"neighbors'":[58],"information.":[59],"Then,":[60],"complex":[63],"domain":[64],"theory,":[65],"we":[66],"construct":[67],"consensus":[69],"vectors":[70],"complying":[71],"conditions":[74],"formation,":[80],"propose":[82],"a":[83,100,127],"control":[88,135,159],"scheme":[89],"to":[90,117,132,150],"force":[91],"achieve":[94],"structure.":[98],"Moreover,":[99],"sufficient":[101],"condition":[102],"is":[103,130],"provided":[104],"for":[105],"choosing":[106],"design":[107],"parameters":[108],"aid":[111],"Lyapunov":[113],"theory.":[114],"In":[115],"order":[116],"handle":[118],"caused":[121],"input":[125],"constraints,":[126],"constraint":[128],"operator":[129],"introduced":[131],"ensure":[133],"always":[137],"lie":[138],"corresponding":[141],"Finally,":[144],"numerical":[145],"simulation":[146],"results":[147],"presented":[149],"demonstrate":[151],"effectiveness":[153],"correctness":[155],"our":[157],"theoretical":[158],"scheme.":[160]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}