Distributed Surrounding Design of Target Region With Complex Adjacency Matrices

DOI10.1109/TAC.2014.2322917MaRDI QIDQ2982912zbMATH OpenOpenAlexFDO

Authors Youcheng Lou, Yiguang Hong

Publication date 16 May 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1510.05773

Mathematics Subject Classification ID

Decentralized systems (93A14) Stabilization of systems by feedback (93D15)

Abstract: 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.

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