cyclic pursuit

function main

close all
clear all
clc

global v n k rho x_t y_t;

n=input('Enter the number of agents:');

v=zeros(1,n);
v=input('Enter the velocity of the agents:');  

h0=zeros(1,n);
h0=input('Enter the heading angle of the agents in degrees:');  

k=zeros(1,n); 
k=input('Enter the controller gain of the agents:');  

x_t=input('enter the x coord of the target:');
y_t=input('enter the y coord of the target:');
rho=input('enter the value of rho:');

x_0=zeros(1,n);
x_0=input('Enter the initial x positions of the agents:');
y_0=zeros(1,n);
y_0=input('Enter the initial y positions of the agents:');

x0=zeros(3*n,1);
for i=1:n
x0(i*3-2)=x_0(i);
x0(i*3-1)=y_0(i);
x0(i*3)=h0(i);
end

options=odeset('RelTol',1e-6);
tspan=[0,100];

[t,x] = ode45(@F,tspan,x0,options);

plot(x_t,y_t,'.g');
hold on

for i=1:n
plot(x_0(i),y_0(i),'*r');
hold on
end

for i=1:n
    plot(x(:,3*i-2),x(:,3*i-1),'- y');
    hold on
end

function dx=F(t,x)

global v n k rho x_t y_t;
dx=zeros(3*n,1);

for i=1:n
        if (i==n)
                j=1;
        else
                j=i+1;
        end

          vl_x(i)=rho*x(j*3-2)+(1-rho)*x_t;                                   %for the x coordinate of virtual target for the ith agent
          vl_y(i)=rho*x(j*3-1)+(1-rho)*y_t;                                   %for the y coordinate of virtual target for the ith agent
          phi(i)=atand((vl_y(i)-x(3*i-1))/(vl_x(i)-x(3*i-2)))-x(3*i);

          dx(i*3-2)=v(i)*cos(x(3*i));                                         %for the x coordinate of each agent
          dx(i*3-1)=v(i)*sin(x(3*i));                                         %for the y coordiante of each agent
          dx(i*3)=(k(i)*phi(i)/v(i))*pi/180;                                  %for the  heading angle of each agent 
  end                                                                         %i have converted phi from degrees to radians

return

DOUBT :Why do the agents not reach the target?? Although, theoretically, it shows good results. rate of change of heading angle is proportional to phi.