Distributed nested rotating consensus problem of multi-agent systems
Peng Lin, Wanting Lu, Yongduan Song · 2014
This paper investigates a distributed nested rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed for each agent to realize the rotating consensus. Firstly, the local state feedback guarantees the circular motion and then the distributed relative state feedback guarantees the consensus of all agents. Finally, a sufficient condition is derived to ensure that all agents as well as their circle centers make circular motion in a distributed manner.