Abstract This paper revisits the group controllability of two‐time scales multi‐agent systems, aiming to achieve innovation from the perspective of heterogeneity and switching topology. To accomplish this objective, the singular perturbation system theory and boundary layer theory are introduced to model the systems. Then, Wonham's Geometric Methods alongside concepts, such as invariant subspaces and controllable state sets, are employed to establish criteria for group controllability. Furthermore, we propose a method to construct switching sequences aimed at ensuring group controllability. Numerical simulations validate the effectiveness of the derived conclusions.
Gu et al. (2026) studied this question.