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Rotating consensus of the multi-agent system under a directed graph

Qiaoyun Li  Jie Mei  
【摘要】:This paper investigates the problems of the rotating consensus for a first-order multi-agent system under a directed graph. We propose the distributed algorithms for the agents so that agents can revolve around a common center by using local relative information. Two kinds of rotating consensus problems are considered, namely, the rotating radius consensus probelm and the rotating displacement consensus problem. With the help of the graph theory and the Lyapunov theory, it is proved that the multi-agent system reaches relevant desired rotating consensus. Finally, simulation examples are provided to illustrate the correctness and effectiveness of proposed algorithms.

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