Abstract
We develop a distributed control policy to achieve composite-rotating consensus around the moving centers whose trajectories form a circle in this paper. It is assumed that the communication topology among agents is undirected network and all agents move on a plane perpendicular to a specified vector in counterclockwise direction. The distributed control protocol is divided into two parts: one part is the local velocity feedback that makes each agent surround the moving centers and the other is the distributed feedback that eliminates the disagreement among the agents. The control protocol is extended to a 3-D space by introduced a rotating matrix. Based on the stable theory of Hurwitz, we verify the stability of the multi-agent system. Finally, Simulation examples are provided to demonstrate the effectiveness of our theoretical results. Keywords-multi-agent system, composite-rotating consensus, 3-D space, moving centers.
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