Surrounding control of nonlinear multi-agent systems with non-identical agents

Shoja S., Baradarannia M., Hashemzadeh F., Badamchizadeh M., Bagheri P.

ISA Transactions, vol.70, pp.219-227, 2017 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 70
  • Publication Date: 2017
  • Doi Number: 10.1016/j.isatra.2017.06.011
  • Journal Name: ISA Transactions
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.219-227
  • Keywords: Adaptive control, Multi-agent systems, Non-identical agents, Surrounding control
  • Istanbul Technical University Affiliated: No


In this paper, the surrounding control problem of a group of non-identical agents is considered, where a team of followers achieves an equidistant distributed formation to surround a team of moving leaders. An adaptive design method is presented for multi-agent systems where the dynamics of agents are supposed to be nonlinear with unknown parameters. First, an estimator for the center of the leaders is introduced. Then, two distributed adaptive controllers based on the estimated center are proposed for each follower. The stability and parameter convergence of the proposed protocols are shown by using algebraic graph theory and Lyapunov theory. Finally, a numerical example is provided to validate the theoretical results.