Multiple-Target Surrounding and Collision Avoidance With Second-Order Nonlinear Multiagent Systems

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Binbin Hu, Hai-Tao Zhang, Jun Wang

Published: 2021, Last Modified: 11 Oct 2025IEEE Trans. Ind. Electron. 2021EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: This article proposes an equal-distance surrounding control method for second-order nonlinear multiagent systems (MASs) to encircle multiple moving targets with guaranteed collision avoidance. First, a distributed estimator is developed to approximate the center of moving targets. Then, an adaptive distributed control law is designed for the MASs to accomplish equal-distance surrounding collaboratively. In particular, conditions for assuring asymptotical stability for the closed-loop MAS are derived. Finally, experimental results with unmanned surface vessels are reported to substantiate the effectiveness of the proposed coordinated surrounding control method.