Distributed Rotating Consensus Control of Second-order Leader-following Multi-Agent System with an Elliptical Orbit
Gun Li, Meng-jie Niu · Advances in intelligent systems research/Advances in Intelligent Systems Research · 2013
This paper addresses collective rotating consensus problem of second-order multi-agent system.We first define rotating consensus problem of leaderfollowing multi-agent system in a circular orbit, and through the mapping relationship between ellipse and circle, extend rotating consensus problem to elliptical orbit, and propose a new protocol for second-order leaderfollowing multi-agent system in an elliptical orbit.Then, based on the protocol for rotating consensus in an elliptical orbit, we transform the original system into an equivalent system by performing a model transformation and transform the rotating consensus problem to a stability problem.Based on the stable theory of Hurwitz, we verify the stability of this system and derive sufficient conditions that guarantee all leader-following multi-agents achieve rotating consensus in an elliptical orbit.Finally, the simulation results are provided to show the effectiveness of the obtained theoretical results.