Distributed encirclement control of multi-agent systems

In this paper, we investigate the distributed encirclement control problem of a group of multi-agent systems with static and dynamic targets. A distributed encirclement control algorithm combined with a distributed estimator is proposed for agents to encircle static or dynamic targets. It is shown that the distributed center of targets can be achieved in finite time and the distributed encirclement problem can be solved with a bounded error. Finally, a numerical example is included to illustrate the obtained theoretical results.