화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.60, No.1, 283-288, 2015
Distributed Surrounding Design of Target Region With Complex Adjacency Matrices
In this technical note, 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.