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Through the analysis, proofs, and classification of these potential functions, we have found that the potential function well depth is proportional to the flocking cohesion. Moreover, we observe that the potential function well depth varies with the agents\u2019 social distance changes. Therefore, we design a segmentation potential function and combine it with the flocking control algorithm in this paper. It enhances flocking cohesion significantly and has good robustness to ensure the flocking cohesion is unaffected by variations in the agents\u2019 social distance. Meanwhile, it reduces the time required for flocking formation. Subsequently, the Lyapunov theorem and the LaSalle invariance principle prove the stability and convergence of the proposed control algorithm. Finally, this paper adopts two subgroups with different potential function well depths and social distances to encounter for simulation verification. The corresponding simulation results demonstrate and verify the effectiveness of the flocking control algorithm.<\/jats:p>","DOI":"10.1007\/s40747-023-01282-2","type":"journal-article","created":{"date-parts":[[2023,12,6]],"date-time":"2023-12-06T10:02:19Z","timestamp":1701856939000},"page":"2585-2604","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["A flocking control algorithm of multi-agent systems based on cohesion of the potential function"],"prefix":"10.1007","volume":"10","author":[{"given":"Chenyang","family":"Li","sequence":"first","affiliation":[]},{"given":"Yonghui","family":"Yang","sequence":"additional","affiliation":[]},{"given":"Guanjie","family":"Jiang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6799-7667","authenticated-orcid":false,"given":"Xue-Bo","family":"Chen","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,12,6]]},"reference":[{"key":"1282_CR1","doi-asserted-by":"publisher","first-page":"401","DOI":"10.1109\/TAC.2005.864190","volume":"51","author":"R Olfati-Saber","year":"2006","unstructured":"Olfati-Saber R (2006) Flocking for multi-agent dynamic systems: algorithms and theory. 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