Containment Control with Group-Aggregation for Heterogeneous Linear Multi-Agent Systems under Hierarchical Topology

This paper concerns with the group-aggregation of the containment control for the heterogeneous multi-agent systems. Based on the three-layer topology, the hierarchical containment controller is designed such that followers can aggregate into precision regions formed by their assistants in the convex hull. The hierarchical containment controller depends on layer, which is the unique feature for the proposed control strategy. Then, the hierarchical coefficients are defined in the hierarchical containment controller. The designed hierarchical containment controller not only improves the containment performance, but also brings the feasibility of control systems. Finally, the effectiveness of the hierarchical containment controller are verified by the numerical simulation.