Stability analysis of multi-agent systems under cyclic pursuit control

Stability analysis of multiagent systems under linear cyclic pursuit control is studied in this paper. Firstly, the conditions on which multi-agent systems still remain stable under linear cyclic pursuit control are proposed. we show that all the agents converge to a equilibrium point if multi-agent systems are stable. Then, a special property is discussed when the multi-agent systems are unstable. In this case, it can be seen that all the agents converge to a straight line by selecting suitable controller gains even when the system is unstable. Finally, simulation results are given in support of the analytical results.