Multi-agent coordination with switching interaction structures and heterogeneous agents
Shi Guodong, Hong Yiguang · 2008
In this paper, we consider the coordination control of a group of heterogeneous autonomous agents with two kinds of agents: leaders (informed agents) and followers. The stability of whole agent group guided by these leaders to a desired convex region is mainly investigated though the interconnection topology keeps switching. Sufficient conditions on the multi-agent coordination are proposed with help of graph theory and non-smooth analysis. With first-order individual dynamics model using the neighborhood rule, the group of the agents will flock to the target set or reach a state agreement.