Flocking of Heterogeneous Multi-agent with Time Delay and Nonlinear Inner-Coupling Functions

  • Jianli Ding
  • Yang Li
  • Zhengquan YangEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 528)


In this paper, flocking of heterogeneous multi-agent is researched. The multi-agent consists of two types of agents with different dynamics. Based on some the certain assumptions, a controller with time delay and nonlinear inner-coupling function is given. It can be proved that each agent’s velocity tracks the leader’s by using the Lyapunov stability theory. Particularly, Collisions can be avoided between agents. Finally, a simulation is proposed to test and verify the availability of the controller.


Multi-agent Flocking Nonlinear dynamic Time delay 



This work is supported by the National Natural Science Foundation of China (61573199). Civil Aviation Science and Technology Innovation Directs Fund Major Special Project (MHRD20150107, MHRD20160109). Basic Research Projects of High Education (3122015C025).


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.College of Computer Science and Technology, Civil Aviation University of ChinaTianjinChina
  2. 2.College of Science, Civil Aviation University of ChinaTianjinChina

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