Quasi‐composite rotating formation control of second‐order multi‐agent systems

Abstract

In this study, quasi-composite rotating formation control for second-order multi-agent systems over undirected communication topology is considered. To solve this problem, a novel distributed control protocol based on the local information is proposed. Next, the origin closed-loop system is changed into an equivalent one by taking a proper coordinate transformation. Under some mild conditions, it is proved that the quasi-composite rotating formation can be reached by analysing the matrix eigenvalues of the closed-loop system. Finally, the simulation results are provided to demonstrate the effectiveness of the theoretical results.