Dynamic Behavior of Multi-agent Systems with Distributed Sampled Control
多智能体系统在分布式采样控制下的动力学行为

This paper devotes to the study of coordinated control and dynamical behavior of multi-agent systems in digital communication network by means of graph theory, matrix analysis, and control theory. It is assumed that each agent of the system is described by a sampling dynamical system and is able to obtain the information of location coordinates of its neighbors by remote sensors. The system behavior depends on a linear distributed protocol in digital communication network. Thus, the whole multi-agent system can be considered as a hybrid dynamic system. Our results show that the multi-agent systems under consideration may appear three different dynamical behaviors, i.e., asymptotical aggregation, periodic oscillation, and divergence of agents. The dynamical behavior of the system depends not only on the algebraic characterization of the network topology but also on the dynamics of agents, as well as the sampling time period. Moreover, we give some algebraic criteria relevant to the system behavior. Examples show the effectiveness of our results.