Distributed control based on the cyclic pursuit strategies has been of much interest recently. This paper presents distributed control policies based on the simple idea of cyclic pursuit which only require relative measurements of position and velocity of neighbors. First, we study the mathematical theory of cyclic pursuit algorithm. Second, we present Virtual Beacon Guidance is integrated to improve the existing cyclic pursuit strategies to deduce a method of Cyclic Pursuit & Beacon Guidance. Finally, we assume two space missions to prove that the control laws can meet with satellites formation autonomous reconfiguration in various patterns. To this end, the formation can get reconfiguration and reorientation simultaneously. In particular, the mission of convergence to cyclic trajectory with the radius extended is proven by analysis and simulation results.
Distributed control of spacecraft formation via cyclic pursuit: Theory and experiments