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Distributed Finite-Time Rotating Encirclement Control of Multiagent Systems With Nonconvex Input Constraints

This paper is devoted to the distributed finite-time rotating encirclement control problem of multiagent systems with nonconvex input constraints. Three distributed finite-time estimators are designed to estimate the targets’ geometric center, the reference polar radius, and the reference polar angular. Then, the estimated values are employed to get the reference trajectory for each agent, which guarantees that the references can uniformly distribute on a circle and have the same angular velocity. The distributed finite-time control laws are proposed for all agents to drive their positions tracking reference trajectories by introducing a constraint operator to cope with the nonconvex input constraints, which guarantees that the control inputs can invariably lie in the corresponding nonconvex constraint sets. A numerical simulation is performed to demonstrate the correctness and effectiveness of the proposed control scheme.