Distributed fixed-time rotating encirclement control of linear multi-agent systems with moving targets

This paper delves into the intricacies of addressing the fixed-time rotating encirclement problem encountered in linear multi-agent systems (FTREMAS). Our research culminates in the development of an encirclement protocol that remains unaffected by initial conditions of follower agents at the encirclement's settling time. Furthermore, we present a rotation method for follower agents which is more practical when compared to previous endeavors. Notably, as the targets themselves are in motion, we employ two distributed estimators to accurately estimate their positions and maintain distances during the encirclement. To ascertain system stability, we employ the Lyapunov technique for analysis. Finally, a simulation is conducted to demonstrate the effectiveness and performance of proposed methodology.