Adaptive flocking of heterogeneous multi-agents systems with nonlinear dynamics

This paper investigates the flocking problem for a set of heterogeneous multi-agent systems which is composed of two kinds of agents differed by their dynamics. Under some assumptions, an adaptive controllers and update laws are designed for the heterogeneous multi-agents. Then, it is proved that the velocities of each agent come to be the same asymptotically and collision avoidance between the agents is ensured. A simulation example is finally provided to illustrate the effectiveness of the proposed scheme.