Finite-Time Surrounding Control of Multi-Agent Systems with Multiple Targets

We investigate the circle surrounding control problem of multiple targets, in which communication topology is undirected and connected. First of all, an estimator is given for each agent to obtain the geometric center of multiple targets in a finite time. Combined with such an estimator, a distributed controller is presented such that all agents can achieve a circular formation and rotate around the geometric center of multiple targets. Meanwhile, agents enclose all targets. Especially, the position of each agent in circular formation can be arbitrary arranged by adjusting the time-varying coefficients. Simulations demonstrate the correctness of the estimator and the surrounding control protocol.