Group consensus in multi-agent systems via pinning control
牵制控制下的多智能体系统群一致性

In dealing with the group consensus problem of multi-agent systems via pinning control, we propose a consensus protocol combining the in-group information exchange, the out-group information exchange with the pinning controller for reaching more than one anticipative stationary state. By using stability and graph theories, we derive the necessary and sufficient conditions for the couple-group agent system in fixed topology and the multi-group agent system in switching topologies, respectively, such that all the agents can achieve their own consistent states asymptotically. Specially, the relation between the controlled agents and the interactive topology is analyzed for the case when the topology graph has a spanning tree. Moreover, based on the Lyapunov function method, a sufficient condition is derived for multi-group agent systems with nonlinear transmission to asymptotically reach several anticipative consistent states in switching topologies. The obtained results imply that the anticipative group consensus can be achieved if a fraction of them are controlled. Illustrative examples are provided to demonstrate the effectiveness of the proposed methods.