Event-Triggered Surrounding Formation Control of Multiagent Systems for Multiple Dynamic Targets

Surrounding formation control has potential applications in a wide range of fields, such as cooperative escorting, hunting, patrolling, deployment, rescue, delivery, and reconnaissance. In this article, an event-triggered control algorithm is developed to tackle the multiple dynamic targets surrounding formation control problem. Essentially, the proposed scheme could achieve diverse surrounding patterns with both monolayer and multilayer configurations which have distinct benefits to various application scenarios. Furthermore, the communication cost can be decreased and the Zeno behavior is theoretically guaranteed to be excluded as well. Finally, numerical simulations are conducted to substantiate the effectiveness of the proposed event-triggered surrounding formation control algorithm.