Enclosing control of heterogeneous multi-agent systems
We investigate the enclosing control problem of heterogeneous multi-agent systems composed of first-order and second-order dynamical agents in fixed directed topologies.Firstly,four effective control protocols are proposed for the two cases in which the system contains both first-order dynamical leaders and second-order dynamical followers,second-order dynamical leaders and first-order dynamical followers,respectively.Then,by using algebraic graph theory,matrix theory and stability analysis tools,the criteria for the above two types of heterogeneous multi-agent systems to achieve enclosing control are obtained through the system transformation method or the error vector construction method.Finally,the effectiveness of the proposed protocols is further verified by simulations.
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