Distributed Zone Allocation and Preservation in Multiagent Systems

This letter studies the zone allocation and preservation problem in multiagent systems. Specifically, a new state transformation method predicated on a diffeomorphic map is first proposed to make the solution to this problem feasible. Building upon the transformed multiagent system, a new distributed adaptive control protocol is then presented to ensure that an agent approaches a command available to the leader agent(s) when this command enters its zone and otherwise the same agent maintains proximity to this command while preserving its own zone. In addition to the presented system-theoretical results, two illustrative numerical examples are also given to demonstrate the efficacy of the overall architecture.