Pursuit Formation of Double-Integrator Dynamics Using Consensus Control Approach

Abstract

This paper deals with cyclic pursuit of double-integrator multiagent systems (MASs) in regular polygon formations. In kinematics level, based on a leaderless architecture, each agent pursues another one in a regular polygon formation with cyclic pursuit around a centroid. Then, in dynamics level, the agents reach consensus on a centroid around which they pursue each other. Despite introduced cyclic pursuit approaches in the literature based on agents with kinematic models and constant forward speeds, the proposed approach is based on agents with double-integrator dynamics without speed constraints. Moreover, based on the proposed approach, it is feasible to control the cyclic pursuit angular velocity. Numerical simulations for a MAS including seven agents confirm the usefulness of the proposed formation control strategy.