Group Consensus of Linear Multiagent Systems Under Nonnegative Directed Graphs

• 成果类型: Article
• 署名作者: Liu, Zhongchang; Wong, Wing Shing
• 署名单位: Dalian Maritime University; Chinese University of Hong Kong
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2021.3124985
• 发表日期: 2022
• 页码: 6098-6105
• 关键词: Laplace equations; TOPOLOGY; Multi-agent systems; Eigenvalues and eigenfunctions; Couplings; Technological innovation; MANIFOLDS; Coupled linear systems; directed spanning trees; graph topology; group consensus

摘要

Group consensus implies reaching multiple groups where agents belonging to the same cluster reach state consensus. This article focuses on linear multiagent systems under nonnegative directed graphs. A new necessary and sufficient condition for ensuring group consensus is derived, which requires the spanning forest of the underlying directed graph and that of its quotient graph induced with respect to a clustering partition to contain equal minimum number of directed trees. This condition is further shown to be equivalent to containing cluster spanning trees, a commonly used topology for the underlying graph in the literature. Under a designed controller gain, lower bound of the overall coupling strength for achieving group consensus is specified. Moreover, the pattern of the multiple consensus states formed by all clusters is characterized when the overall coupling strength is large enough.