Research On The Surround Control Problem Of Multi-agent System

The surround control problem of multi-agent system is to realize that a team of followers is used to surround a team of targets. This problem can be considered an inverse containment control problem, and also closely related to the target enclosing problem. Currently, the works on containment control problem and target enclosing problem are much. However, the works on the surround control problem are rare.Refer to the mature works on distributed consensus problem of multi-agent system, in this paper, we study the surround control problem for fixed targets, and then our main objective is to study this problem for dynamic targets in first-order and second-order system. We introduce some lemma and theorem to design the control law, and some simulation results are provided to show effectiveness of the obtained theoretical results.First, we will study the the surround control problem for fixed targets on condition that the agents can only obtain the goble information. The all of information cannot be obtained directly since each follower might have access to only a subset of the leaders. A decentralized estimator is constructed to estimate the geometric center of the leaders. Then, the estimated center is used to design controllers for the followers. And, we introduce some correlation lemma and theorem based on this work. Then, based on Lyapunov theory, math theory, a sufficient condition for the theorem is established.Then, our main objective is to study the surround control problem for dynamic targets. Since the motion characteristics of targets, a decentralized estimator which must be finite-time convergence, is constructed to estimate the geometric center of the targets. Then, the estimated center is used to design controllers for the followers. And, we introduce some correlation lemma and theorem based on this work. Then, based on Lyapunov theory, math theory, a sufficient condition for the theorem is established.Finally, some simulation results are provided to show effectiveness of the obtained theoretical results.The results of this research can be used in reconnaissance and search and rescue of unmanned aerial vehicles and robots, which has particular military and project application value.