The time-varying network topology can significantly affect the stability of multi-agent systems.This paper examines the stability of leader-follower multi-agent systems with general linear dynamics and switching netwo...The time-varying network topology can significantly affect the stability of multi-agent systems.This paper examines the stability of leader-follower multi-agent systems with general linear dynamics and switching network topologies,which have applications in the platooning of connected vehicles.The switching interaction topology is modeled as a class of directed graphs in order to describe the information exchange between multi-agent systems,where the eigenvalues of every associated matrix are required to be positive real.The Hurwitz criterion and the Riccati inequality are used to design a distributed control law and estimate the convergence speed of the closed-loop system.A sufficient condition is provided for the stability of multi-agent systems under switching topologies.A common Lyapunov function is formulated to prove closed-loop stability for the directed network with switching topologies.The result is applied to a typical cyber-physical system—that is,a connected vehicle platoon—which illustrates the effectiveness of the proposed method.展开更多
基金This work is supported by International Science and Technology Cooperation Program of China(2019YFE0100200)Beijing Natural Science Foundation(JQ18010).It is also partially supported by Tsinghua University-Didi Joint Research Center for Future Mobility.
文摘The time-varying network topology can significantly affect the stability of multi-agent systems.This paper examines the stability of leader-follower multi-agent systems with general linear dynamics and switching network topologies,which have applications in the platooning of connected vehicles.The switching interaction topology is modeled as a class of directed graphs in order to describe the information exchange between multi-agent systems,where the eigenvalues of every associated matrix are required to be positive real.The Hurwitz criterion and the Riccati inequality are used to design a distributed control law and estimate the convergence speed of the closed-loop system.A sufficient condition is provided for the stability of multi-agent systems under switching topologies.A common Lyapunov function is formulated to prove closed-loop stability for the directed network with switching topologies.The result is applied to a typical cyber-physical system—that is,a connected vehicle platoon—which illustrates the effectiveness of the proposed method.
