This paper considers circular motion of multi-agent systems in which all the agents are required to traverse different circles or a common circle at a desired angular frequency. 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. It is assumed that the agents are subjected to limited communication constraints, and exchange relative information according to a time-invariant undirected graph. The feedback control laws to achieve these collective motions are obtained by using Lyapunov theory and LaSalles invariance principle. Simulations are given to illustrate the theoretical findings.
['Anoop Jain', 'Debasish Ghose']
Limited Communication Stabilization of Multi-Agent Systems to Synchronized and Balanced Phase Arrangements at Desired Angular Frequency