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

Shamisa Shoja, Mahdi Baradarannia*, Farzad Hashemzadeh, Mohammadali Badamchizadeh, Peyman Bagheri

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)219-227
Number of pages9
JournalISA Transactions
Publication statusPublished - Sept 2017
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2017 ISA


  • Adaptive control
  • Multi-agent systems
  • Non-identical agents
  • Surrounding control


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