摘要
研究非时变有向通讯网络背景下一阶线性多个体动力学系统的整体行为.根据通讯网络的结构,系统可以区分为独立基本子系统和非独立基本子系统.当系统的控制规则为一类平凡的线性类型时,系统的独立基本子系统将趋于自身的一致状态,也即子系统中的每个个体趋于子系统的带权中心.独立基本子系统带权中心由子系统的系数矩阵的零特征根归一化左特征向量确定.非独立子系统中个体将趋于独立基本子系统带权中心的凸集内.当且仅当系统的独立基本子系统唯一时,系统实现一致性行为.
This paper works on multi-agent system under network.The network is described by time-invariant digraph and the agents are described by order-one dynamics.By means of the decomposition of network,the system can be decomposed into basic independent subsystems and basic dependent subsystems.With a linear control protocol,each basic independent system achieves its own consensus,i.e.,its agents move gradually into a fixed position（weighted-centre of the subsystem）,which is decided by the left-eigenvectors of its coefficient matrix with respect to zero eigenvalue,and the agents in basic dependent subsystems move gradually into the positions,which are inside the convex set formed by the weighted-centres of the basic independent subsystems.The agents of whole system achieve consensus if and only if there exists only one basic independent subsystem in the system.
出处
《系统科学与数学》
CSCD
北大核心
2011年第1期114-122,共9页
Journal of Systems Science and Mathematical Sciences
基金
国家自然科学基金(60674046)
Australia Research Council(ARC)资助项目
