Nonlinear second-order multi-agent systems subject to antagonistic interactions without velocity constraints
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摘要
This paper studies the nonlinear second-order multi-agent systems without velocity information while subject to antagonistic interactions among the reciprocal agents. When being free of nonlinear disturbances, a necessary and sufficient condition for the consensus (resp. stability) problem is presented, which essentially shows that the coupling weights and topology structure suffice to assure the consensus (resp. stability) of the agents. Whereas, nonzero eigenvalues of the Laplacian matrix also act a crucial role, provided that merely the absolute information of the auxiliary variable is demanded. The derived results implicitly manifest that structurally balanced graph (resp. isolated structurally balanced graph or containing the in-isolated structurally balanced subgraph) is merely the necessary condition for the consensus (resp. stability) of the agents within the second-order dynamical setting. In the presence of nonlinear dynamics, we explicitly extend the derived results with the help of the Lyapunov-based technique under quite mild assumptions. Furthermore, some comparisons are presented in contrast to some of the existing literature. Finally, numerical examples are given to validate the efficiency of the obtained results.
论文关键词:Second-order multi-agent systems,Velocity constraint,Antagonistic information
论文评审过程:Received 30 April 2019, Revised 17 July 2019, Accepted 4 August 2019, Available online 27 August 2019, Version of Record 27 August 2019.
论文官网地址:https://doi.org/10.1016/j.amc.2019.124667