This article is cited in 3 papers

Robust, Adaptive and Network Control

On the role of the eigenprojector of the laplacian matrix for reaching consensus in multiagent second-order systems

R. P. Agaev

Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

Abstract: The problem of reaching consensus in multiagent second-order systems without a spanning outgoing tree in the dependency digraph is considered. A theorem stating that the asymptotic behavior of the system is uniquely determined by the eigenprojector of the Laplacian matrix of the dependency digraph is proved. The earlier results established by the author and by Ren and Atkins in their papers are further generalized. For the case in which the dependency digraph contains no spanning outgoing tree, a regularization method is proposed.

Keywords: second-order multiagent systems, consensus, regularization, eigenprojector, Laplace digraph matrix.


Received: 27.07.2018
Revised: 16.04.2019
Accepted: 18.07.2019

DOI: 10.1134/S0005231019110072

 English version: Automation and Remote Control, 2019, 80:11, 2033–2042

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