Dual-Class Leader-Following Modeling for Collective Motion of Multi-Agent Systems

Leader-follower collective motion is a key multi-agent network application. However, conventional methods struggle with high dynamics or communication interferences and fail to maintain consistent motion. To address this issue, a resilient dual-class cooperative following (DCCF) model is proposed. This model uses two movement strategies for the different follower categories. Leader-connected followers use a single-tracking control based on velocity or direction, whereas leader-disjoint followers employ a modified relative speed for single tracking. The DCCF model may be more suitable for practical use than existing ones. Simulations under degraded conditions demonstrate its superior tracking performance and robustness over traditional methods.