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.