On the Controllability of Discrete-Time Leader-Follower Multiagent Systems with Two-Time-Scale and Heterogeneous Features

Figure 3

The position state errors of all follower agents on slow-time-scale. Variables , , , , and , respectively, correspond to the position states of agents 1, 2, 3, 5, and 6 in the slow-time-scale subsystem. represents the deviation between the current position state and the target position state.