Finite-Time Circle Formation Control of Second-Order Multi-agent Systems with Bounded Control Inputs

This paper focuses on the finite-time circle formation problem of second-order multi-agent systems with bounded control inputs. Distributed control law with bounded control inputs is developed for second-order multi-agent systems. It is demonstrated that the proposed distributed circle formation law can achieve the circle formation task of multi-agent systems in finite-time, considering individual agents with different input saturation constrains. Finally, the effectiveness of the proposed control law is validated through a simulation example.