Cooperative capturing for multi-agent system with reaction force from target object

This paper proposes a cooperative control of multi-agent system to capture target object. When the agents capture the target object, they may be subjected to reaction force from it. Therefore, we have to consider the physical contact between the agent and target object. First, we introduce the second order model to consider reaction force from target object. The network topology among agents is time-varying and connected, and information of target object is allowed to be available to at least one agent. Second, we show the proposed control law guarantees the agents capture the target object. The control law consists of graph theory and consensus algorithm, and we analyze the convergence property. Finally, simulation results show the effectiveness of the proposed control law.