Distributed Surrounding Design of Target Region with Complex Adjacency Matrices
Systems and Control
2015-10-21 v1
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.
Cite
@article{arxiv.1510.05773,
title = {Distributed Surrounding Design of Target Region with Complex Adjacency Matrices},
author = {Youcheng Lou and Yiguang Hong},
journal= {arXiv preprint arXiv:1510.05773},
year = {2015}
}