Target-enclosing strategies for multi-agent using adaptive control strategy

In this paper, an adaptive control method for target-enclosing strategies is considered. The proposed enclosing control strategy achieves enclosing configurations based on virtual structures. We assume that there exist an uncertainty in the information exchange topology between an agent and all of its neighbors on the network. We regard that the uncertainty in the information exchange topology can be described by the perturbation of the elements of graph Laplacian matrix. Our proposed method can estimate the perturbation of the elements in the notion of adaptive control strategy. Numerical simulation results are given to illustrate the effectiveness of our proposed method.