Circle Formation Control of Multi-Agent Systems with Time-varying Communication Delay in a Plane

The circular formation control problem of multiagent system affected by time delay is studied. Agents can be moved to anywhere in the plane. This work is dedicated to addressing that not only makes agents move to the desired circle but also keep up rotating around the target while distributing according to the pre-designed angular distance. Considering that the communication delays of systems can hardly be ignored, a distributed control law affected by time-varying delay is proposed. Eventually, this works makes the validation of effectiveness by using a numerical simulation example.