Distributed set surrounding and modulus consensus for multi-agent systems

In this paper, we discuss the distributed set surrounding problem of a multi-agent system with a switching communication topology. With considering a convex target set in Euclidean space, we propose a distributed controller to the agents so as to surround the target set with the same distance and also keep the desired projection angle from the specified neighbors defined in the configuration graph. Furthermore, we obtain some initial conditions to ensure the consistent case. Finally, when the convex set reduces into the origin we provide modulus consensus results and then give estimation when agents are disturbed with bounded uncertainties.