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In this paper, a more general multi-agent system based on leader control model is established, in which the coupling topology of the attraction action among the agents is different from the coupling topology of the repulsion action. It is proved that the swarm agents will converge and form a cohesive cluster following the leader under certain conditions in finite time. Two different cases of the system...
This paper considers the consensus of the leader-following systems with a discrete-time model. The velocity of the active leader is unknown in real time. This paper designs the control laws and observers based on the neighbors to solve the consensus problem. The Lyapunov approach has played an important role in the leader-following systems. It is shown that all agents asymptotically move with the...
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