Swarm aggregations of heterogeneous multi-agent systems

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.