Collective Circular Motion of Multi-Agent Systems in Synchronized and Balanced Formations With Second-Order Rotational Dynamics

TL;DR

This paper develops control laws for multi-agent systems with second-order rotational dynamics to achieve synchronized or balanced collective circular motions under communication constraints.

Contribution

It introduces novel feedback control strategies for coordinated circular motion considering second-order rotational dynamics and limited communication.

Findings

Control laws successfully achieve synchronization and balancing.

Simulations validate theoretical control strategies.

Agents follow prescribed circular trajectories with desired formation behaviors.

Abstract

This paper considers the collective circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a prescribed angular velocity. It is required to achieve these collective motions with the heading angles of the agents synchronized or balanced. In synchronization, the agents and their centroid have a common velocity direction, while in balancing, the movement of agents causes the location of the centroid to become stationary. The agents considered are initially moving at unit speed around individual circles at different angular velocities. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. We present suitable feedback control laws for each of these motion coordination tasks by considering a second-order rotational dynamics of the agent. Simulations are given to illustrate the theoretical findings.