Target surrounding control of second-order multi-agent systems with switching topology

This paper considers the target surrounding control problem of second-order multi-agent systems with linear dynamics and switching topologies. In our scheme, all agents finally converge to a circle around the target and then move along it. Firstly, a distributed protocol is given for each agent to estimate the position of static target. It is shown that the estimation of each agent eventually converges to the target as the information topology contains a jointly spanning tree by employing the properties of row-stochastic matrix and non-negative matrix. Secondly, another distributed protocol is given for each agent moves around the target in a given circle. More important, all agents reach consensus on angular velocity and move uniformly distributed in this circle. Finally, a numerical example is introduced. The results of simulation illustrate the validity of the proposed method.