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Surrounding control in cooperative second-order agent networks

In this paper, a surrounding control problem for second-order agent system is investigated. A set of followers composed by the second-order agent networks is applied to surround a team of static leaders into a convex hull spanned by these followers. The problem is considered under a decentralized estimation-and-control framework by using tools from algebraic graph theory and Lyapunov stable theory. Under some basic assumptions, the surrounding problem is solved with the followers converge to their desired position with zero velocities and control inputs, even if the geometric center of the leaders can only be obtained from estimators. Simulation results are provided to illustrate the effectiveness of proposed methods.