Collective composite-rotating consensus of multi-agent systems

This paper investigates a distributed composite-rotating consensus problem of second-order multi-agent systems, where all agents move in a nested circular orbit. A distributed control law is proposed which contains two parts： the local state feedback that guarantees the circular motion and the distributed relative state feedback that guarantees the consensus of all agents. A sufficient condition is derived to drive all agents as well as ensure their circle centers make circular motion in a distributed manner. Finally, a numerical simulation is included to demonstrate our theoretical results.     

Antagonistic formation motion of cooperative agents

This paper investigates a new formation motion problem of a class of first-order multi-agent systems with antagonistic interactions.A distributed formation control algorithm is proposed for each agent to realize the antagonistic formation motion.A sufficient condition is derived to ensure that all of the agents make an antagonistic formation motion in a distributed manner.It is shown that all of the agents can be spontaneously divided into several groups and that agents in the same group collaborate while agents in different groups compete.Finally,a numerical simulation is included to demonstrate our theoretical results.