Finite-time Circle Formation Control of Multi-agent Systems

This paper investigates the finite-time circle formation control problem for a network of mobile agents with continuous-time dynamics. Distributed control protocols for each single-integrator agent dynamics are constructed to form desired configuration on a given circle in finite time. To prove our approaches, finite-time stability theory and Lyapunov methods are considered. And the expressions for the bounded finite settling time is given. Finally, numerical simulations are presented to illustrate the effectiveness and performance of our protocols.