Revolution consensus problem of multi-agent network systems on spherical surfaces

For multi-agent network systems, it is proposed the revolution consensus problem on spherical surfaces, that is designing a control protocol such that all agents converge to a family of parallel circles on a spherical surface revolving with the same direction and angular velocity. A nonlinear control protocol is designed and the proposed consensus problem is solved locally. A simulation example is provided that shows the effectiveness of the nonlinear protocol.