Multiple-Target Surrounding and Collision Avoidance with Second-Order Nonlinear Multiagent Systems

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

10 Scopus Citations
View graph of relations



Original languageEnglish
Article number9113710
Pages (from-to)7454-7463
Journal / PublicationIEEE Transactions on Industrial Electronics
Issue number8
Online published10 Jun 2020
Publication statusPublished - Aug 2021


This article proposes an equal-distance surrounding control method for second-order nonlinear multiagent systems (MASs) to encircle multiple moving targets with guaranteed collision avoidance. First, a distributed estimator is developed to approximate the center of moving targets. Then, an adaptive distributed control law is designed for the MASs to accomplish equal-distance surrounding collaboratively. In particular, conditions for assuring asymptotical stability for the closed-loop MAS are derived. Finally, experimental results with unmanned surface vessels are reported to substantiate the effectiveness of the proposed coordinated surrounding control method.

Research Area(s)

  • Collision avoidance, multiagent systems (MASs), surrounding control, unmanned surface vessels