Multi-coordination of coupled nonidentical agents with partial impulsive control and application to human-robot interactions

In this paper, we investigate the multi-coordination problem of a group of coupled nonidentical agents under partial impulsive control. The main feature of multi-coordination behavior is that the connected network is separated into subgroups, and the agents in the same group are of quasi-synchronization, while there is no synchronization among different groups. To make the agents achieve this collective behavior, a partial impulsive control strategy is introduced. Finally, the effectiveness of our proposed method is validated through a human-robot interaction example.