Distributed Surrounding Design of Target Region with Complex Adjacency Matrices
For researchers in multi-agent systems and distributed control, this work extends surrounding control to complex adjacency matrices and switching topologies, though the problem is incremental over existing formation control and consensus methods.
This paper addresses the distributed surrounding of a convex target set by a group of agents with switching communication graphs. It proposes a distributed controller that achieves surrounding with specified distances and projection angles, providing convergence results under mild connectivity assumptions.
This is a complete version of the 6-page IEEE TAC technical note [1]. In this paper, we consider the distributed surrounding of a convex target set by a group of agents with switching communication graphs. We propose a distributed controller to surround a given set with the same distance and desired projection angles specified by a complex-value adjacency matrix. Under mild connectivity assumptions, we give results in both consistent and inconsistent cases for the set surrounding in a plane. Also, we provide sufficient conditions for the multi-agent coordination when the convex set contains only the origin.