Target Tracking Algorithm with Time Delay Based on Flocking Control with Two Types of Agents

This paper investigates a target tracking algorithm with time delay based on flocking control. In the system, there exist two types of agents and one moving target. Agents of type I track the target, and agents of type II follow the former. These agents are controlled with a kind of second-order differential equations, and different control inputs are proposed for these agents. The control inputs contain the position and velocity of the agents. Stability analysis is presented by constructing a Lyapunov-Krasovskii function and its derivate. Asymptotical stability condition is derived for the second order system with hybrid agents. Simulation results show that stable flocking is achieved.