A flocking algorithm for multi-agent control with multi-leader following strategy

In this paper, a flocking algorithm with multi-leader tracking for multi-agent systems is presented, and a strategy for leaders choosing their nearby agents is proposed. It is supposed that only a certain number of agents can be accepted by each leader as followers. Leaders choose these followers by the distances between them and the capacity of followers accepted by leaders. With the presented flocking algorithm, agents with the same leader can make a flocking during the tracking process, and the agents with different leaders separate from each other. Lyapunov stability theorem is applied to prove the stability of the dynamic system. Finally, simulation results verify the effectiveness of the proposed algorithm.