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This paper is devoted to the study of rotating consensus problem for leader-following multi-agent system with and without multiple time-delays in an elliptical orbit and both switching topology which is kept connected. We first define rotating consensus problem of leader-following multi-agent system in a circular orbit, and through the mapping relationship between ellipse and circular, extend rotating consensus problem to elliptical orbit. Then, we propose two new protocols for leader-following multi-agent system with and without multiple time-delays. The main results provide sufficient conditions for existence of rotating consensus for leader-following multi-agent with and without multiple time-delays in an elliptical orbit.. Simulations are provided to show the effectiveness of the obtained theoretical results. Keywords-rotating consensus; leade -following mult-agent; elliptical orbit; multiple time-delays; switching topology. I. INTRODUCTION

Rotating Consensus of LFMAS in an Elliptical Orbit with Switching Topology