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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.INDEX TERMS Encirclement control, nonconvex input constraints, finite-time tracking, distributed estimator, multiagent systems.

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This paper investigates the collective multi-target rotating encirclement formation problem of second-order multi-agent systems, where the inputs are constrained in nonconvex sets. The objective requires that all agents rotate around targets' geometric center with the desired radius and angular velocity. Firstly, the targets' geometric center and rotating radius are calculated by two distributed fixed-time estimators based on the neighbors' information. Then, with the complex domain theory, we construct two consensus vectors complying with the conditions of the multi-target rotating encirclement formation, and propose a distributed multi-target rotating encirclement control scheme to force all agents achieve the desired formation structure. Moreover, a sufficient condition is provided for choosing design parameters with the aid of Lyapunov theory. In order to handle the problem caused by the nonconvex input constraints, a constraint operator is introduced to ensure all control inputs always lie in the corresponding nonconvex sets. Finally, numerical simulation results are presented to demonstrate the effectiveness and correctness of our theoretical control scheme. INDEX TERMS Rotating encirclement control, nonconvex input constraints, distributed estimator, second-order multi-agent systems.