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Mathematical Problems in Engineering
Volume 2011, Article ID 791052, 11 pages
Research Article

Collective Coordination of High-Order Dynamic Multiagent Systems Guided by Multiple Leaders

School of Mathematical Sciences/Institute of Computational Science, University of Electronic Science and Technology of China, Sichuan, Chengdu 611731, China

Received 6 December 2010; Revised 20 March 2011; Accepted 17 April 2011

Academic Editor: John Burns

Copyright © 2011 Xin-Lei Feng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


For second-order and high-order dynamic multiagent systems with multiple leaders, the coordination schemes that all the follower agents flock to the polytope region formed by multiple leaders are considered. Necessary and sufficient conditions which the follower agents can enter the polytope region by the leaders are obtained. Finally, numerical examples are given to illustrate our theoretical results.