Surrounding Problem of Multi-agent Systems Under Arbitrary Topology

This paper studies surrounding dynamically multi-targets with second-order integrator/nonlinear systems and continuous time-varying topology. The continuous time-varying topology refers to the continuous change of the topology rather than switching in several fixed topologies. Surrounding multi-targets is an extension of containment control. The distributed control algorithm is designed based on the containment control theory. By transforming the system of containment control into error stability, the condition that the error between multi-agent systems and multi-targets to be constant can be obtained by using the algebraic graph theory, matrix theory and Lyapunov function stability analysis. The multiagent systems can dynamically surround multi-targets by designing the deviation vector. Finally, simulation experiments verify the effectiveness of the proposed algorithm.