Consensus of Multi-Agent System Under Directed Network: A Matrix Analysis Approach

Abstract

This paper investigates the consensus of multi-agent system in network (i.e. a swarm). The topological structure of the network is characterized by a digraph. The agents of the network are described by an integrator and distributed in Rm. By means of transforming the Laplacian of the digraph into its Frobenius canonical form the system may be decomposed into one or several minimal-independent subsystems and one or several non-independent subsystems. Each minimal-independent subsystem, which consists of some agents of system, achieves consensus of its own. In other worlds, the agents of the subsystem converge into a state (equilibrium position), which is weighted-average of initial states of ..