Consensus of multi-agent systems based on leader-following control

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 are considered. Moreover, some numerical simulations are given to illustrate the theoretical results.