Ning Cai, Jian-Xiang Xi, and Yi-Sheng Zhong
Multi-agent system, stability, consensus, graph
Asymptotic swarm stability problem of high-order dynamical multi-agent systems is investigated in this paper. Consensus is a specific type of asymptotic swarm stability. Necessary and sufficient conditions are respectively presented for asymptotic swarm stability of two types of high-order dynamical multi-agent system models: general LTI systems and certain nonlinear dynamical multi-agent systems. The conditions depend on the graph topology, the agent dynamics, and the interactions of agents. As an engineering application, a decentralized formation controller is described. Numerical examples are also shown to illustrate the theoretical results.
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