On the formation control of multiagent systems under nearly cyclic pursuit

Abstract

We consider the problem of formation control of multiple agents under the nearly cyclic pursuit strategy. A control law is designed under this strategy for n agents to rendezvous at a point and also form a specific formation, dictated by an extra agent, called beacon.We derive constraint on the gain in k–circulant matrix to make the system stable. Formation tracking for n agents is achieved by applying an exogenous input to the beacon. We prove that the agents in nearly cyclic interaction are controllable under the beacon. Simulations and analytical results demonstrate the effectiveness of the proposed method.