On the Convergence Properties of a Heterogeneous Multiagent System on the Unit Sphere

• 成果类型: Article
• 署名作者: Kim, Dohyun
• 署名单位: Sungkyunkwan University (SKKU)
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2023.3297510
• 发表日期: 2023
• 页码: 8301-8307
• 关键词: aggregation; consensus; locked states; multiagent system; swarm sphere model

摘要

We establish the convergence of a heterogeneous multiagent system on the unit sphere in even-dimensional Euclidean space. In this work, we show that all relative distances converge to some definite values, when the natural frequencies are completely determined diagonal matrices with half-dimension and the coupling strength is sufficiently larger than the maximal differences of the natural frequencies. Our result extends the previous results about practical aggregation where the maximal distance is merely bounded by the inverse of the coupling strength without convergence.