|Finite-time Circle Surrounding Control for Multi-agent Systems
Dan Ma* and Yingchun Sun
International Journal of Control, Automation, and Systems, vol. 15, no. 4, pp.1536-1543, 2017
Abstract : "In this paper, a finite-time circle surrounding control problem for multi-agent systems is investigated.
The objective is to make all the surrounding agents eventually distribute on a circle uniformly and all the target
agents surrounded by this circle in the finite time. Both a distributed estimator and a distributed control protocol
are presented to achieve such a goal. Firstly, an estimator of the targets’ geometric center is used to estimate the
center of targets. Secondly, a distributed control protocol is proposed for each surrounding agent by using the value
of the estimator to guarantee all the surrounding agents uniformly distribute on a circle and all the target agents are
surrounded by this circle in the finite time. Then it is proved that the control goal can be achieved in the finite time.
Finally, a simulation example is given to show the effectiveness of the proposed method."
Circle surrounding control, distributed estimator, finite-time, multi-agent systems.