In this paper,two methods of generating minimally persistent circle formation are presented.The proposed methods adopt a leader-follower strategy and all followers are firstly motivated to move into the leader’s interaction range.Based on the information about relative angle and relative distance,two numbering schemes are proposed to generate minimally persistent circle formation.Distributed control laws are also designed to maintain the desired relative distance between agents.The distinctive features of the proposed methods are as follows.First,only 2n 3 unilateral communication links for n agents are needed during the circle formation process and thus the communication complexity can be reduced.In addition,the formation topology is kept fixed for the whole motion and achieves a self-stability property.Finally,each follower keeps a regualr interval with its neighbors and the formation converges to a uniform circle formation.Simulation results are also provided to demonstrate the effectiveness of the proposed methods.
This paper investigates the fnite-time consensus problem of multi-agent systems with single and double integrator dynamics,respectively.Some novel nonlinear protocols are constructed for frst-order and second-order leader-follower multi-agent systems,respectively.Based on the fnite-time control technique,the graph theory and Lyapunov direct method,some theoretical results are proposed to ensure that the states of all the follower agents can converge to its leader agent s state in fnite time.Finally,some simulation results are presented to illustrate the efectiveness of our theoretical results.
