Grunnleggende konsepter
Necessary and sufficient conditions for achieving scale-free state synchronization of homogeneous multi-agent systems via linear dynamic non-collaborative protocols, with and without utilizing local bounds on neighborhoods.
Sammendrag
The paper investigates the scale-free state synchronization problem for homogeneous multi-agent systems (MAS) in both continuous-time and discrete-time settings. It provides necessary and sufficient conditions for the existence of solutions to this problem.
Key highlights:
For continuous-time MAS without local bounds, necessary conditions are: stabilizability, detectability, neutral stability, minimum-phase, and relative degree 1. Sufficient conditions relax the minimum-phase requirement.
For continuous-time MAS with local bounds, necessary and sufficient conditions are: stabilizability, detectability, and neutral stability.
For discrete-time MAS without local bounds, scale-free synchronization is not possible except for asymptotically stable agents.
For discrete-time MAS with local bounds, necessary and sufficient conditions are: stabilizability, detectability, and neutral stability.
The paper shows that the availability of local bounds on neighborhoods plays a key role in achieving scale-free synchronization, especially in the discrete-time case where it becomes necessary. The results provide insights into the design of scale-free protocols for multi-agent systems.