Movement Control of Multi-Agent System with Multiple Leader Based on Potential Function

A new control method based on potential function is presented, which can effectively control the movement of multi-agent system with multiple leaders. The system includes two kinds of agent: leader and follower. Leader has the knowledge about the environment and is attracted by the object, but follower is only affected by the information about the neighbor. To make the system to the anticipation, proper potential functions related to the environment and the object is chosen, and different control law is designed for the two kinds of agents, and stability analysis and simulation are made in the end.