Consensus Problem of Second-order Multi-agent System in Directed Network:A Matrix Analysis Approach

作     者：Jidong Jin~(1,3),Yufan Zheng~(1,2),Haibin Shao~1,Linglin Shu~1 1.Department of Mathematics,Shanghai University,Shanghai 200444,China 2.Department of Electrical and Electronics Engineering,The University of Melbourne,Australia 3.Department of Computer Science and Technology,Capital University of Economics and Business,Beijing 100070,China 

会议名称：《2010 Chinese Control and Decision Conference》

会议日期：2010年

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：supported by NNSF of China(No.60674046) and Australia and Research Council(ARC) 

关 键 词：Frobinus Canonical Form Basic Independent Subsystem Weighted Center Consensus 

摘      要：In this paper the consensus of multi-agent system in directed network,where the agent is described by a second-order dynamics,is *** control protocol depends on two parameters,***-cooperative parameter w0 and velocity-cooperation parameter w0,and the Laplacian associated with communication *** definition of consensus in this paper is slightly different from that used in some existent *** define the notion called *** on a matrix decomposition of the Laplacian,we define the notions called basic independent system and basic non-independent system of a multi-agent system under directed ***,using matrix analysis approach the necessary and sufficient conditions for state inertia-consensus and/or velocity inertia-consensus, are given for the second-order ***,the collective behavior of the system is discussed subject to the cases that system achieves consensus or does *** also provide some simulation results to show the validation of our results.