Swarm aggregations of heterogeneous multi-agent systems |
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| Authors: | Haili Liang Xiaofan Wang Michael ZQ Chen |
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| Affiliation: | 1. Department of Automation, Shanghai Jiao Tong University, Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, China;2. Department of Mechanical Engineering, The University of Hong Kong, Hong Kong |
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| Abstract: | This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. |
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| Keywords: | swarm multi-agent systems heterogeneous systems stability |
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