Multi-target consensus circle pursuit for multi-agent systems via a distributed multi-flocking method

This paper studies the multi-target consensus pursuit problem of multi-agent systems. For solving the problem, a distributed multi-flocking method is designed based on the partial information exchange, which is employed to realise the pursuit of multi-target and the uniform distribution of the number of pursuing agents with the dynamic target. Combining with the proposed circle formation control strategy, agents can adaptively choose the target to form the different circle formation groups accomplishing a multi-target pursuit. The speed state of pursuing agents in each group converges to the same value. A Lyapunov approach is utilised to analyse the stability of multi-agent systems. In addition, a sufficient condition is given for achieving the dynamic target consensus pursuit, and which is then analysed. Finally, simulation results verify the effectiveness of the proposed approaches.