Circular formation control protocols for dynamic unicycles via hybrid stabilization of sets

In this paper, we develop a hybrid control framework for addressing circular formation control protocols for dynamic unicycles using stabilization of sets. The proposed framework develops a novel class of fixed-order, energy-based hybrid controllers as a means for achieving cooperative control formations. These dynamic controllers combine a logical switching architecture with the continuous system dynamics to guarantee that a system generalized energy function whose zero level set characterizes a specified system formation is strictly decreasing across switchings.