Dynamic Target Enclosing Control Scheme for Multi-Agent Systems via a Signed Graph-Based Approach

Dear Editor, This letter investigates the target enclosing control problem of multi-agent systems. A signed graph-based strategy is presented, where agents are steered to enclose dynamic from both sides as they move. inspired by phenomenon that networks exhibit bipartite clustering if underlying graph structurally balanced, so may naturally zero point opposite (+ and -) proper controllers applied. By adopting a distributed observer estimate information target, consensus-based scheme designed. Furthermore, complete Laplacian matrix (CLM)-based Lyapunov analysis method introduced prove stability, which provides simpler theoretical validation for stability average consensus than conventional based on state transition matrix. Finally, some numerical simulations shown verify effectiveness proposed scheme.