Rotating consensus and tracking of second-order multi-agent systems in 3-D under directed interaction topologies

This paper investigates the rotating motions of second-order multi-agent systems in 3-D under directed interaction topologies. We consider both rotating consensus and consensus tracking algorithms and present convergence conditions. In the case of rotating consensus, sufficient conditions are derived under which all agents rotate around a common point. In the case of rotating consensus tracking, we show that all the agents can rotating around a dynamic virtual leader, when this leader is a neighbor of only a subset of a group of followers and all followers have only local interaction. Tools like matrix theory, linear system theory, and other mathematical skills are used for convergence analysis. Simulation results are provided to illustrate the effectiveness of the theoretical results.