有向网络下仿射非线性多个体协同动力学系统的整体行为

Collective behavior of affine nonlinear multi-agent dynamic systems in directed network

本文讨论有向通讯网络条件下仿射非线性多个体动力学系统的结构及其整体行为.系统可以分解为独立基本子系统和非独立基本子系统.每个独立基本子系统将趋于自身的一致状态,非独立子系统的个体状态将趋于独立基本子系统一致状态为顶点的凸集内.系统所有个体的状态趋于一致的充分必要条件是存在唯一的独立基本子系统.这一结果涵盖了线性多个体动力学系统此前的研究结果.

The structure and collective behavior of affine nonlinear multi-agent dynamic system under directed network are discussed. The system can be decomposed into some basic subsystems; some of them are independent from the others and some are not. Each basic independent subsystem will reach its own consensus state. The state of each agent in the nonindependent subsystems will go inside of a convex set, which is formed by the consensus states of basic independent subsystems. The states of all agents in system reach consensus if and only if there is only one independent subsystem in the system. This result also covers the results of previous works on linear multi-agent dynamic systems.