The Collective Behavior of Asymmetric Affine
Jidong Jin, Yufan Zheng · 2011
This paper works on the structure and collective behavior of an affine non-linear multi-agent dynamic systems in directed network. The multi-agent system can be decomposed into some basic subsystems, some of them are independent from the others and some are non-independent. Each basic independent subsystem will reach their own consensus state. The agents in the non-independent subsystems will asymptotically go inside of a convex set, which is formed by the consensus states of basic independent subsystems. The states of all agents of system reach consensus if and only if there is only one independent subsystem in the system. This results generalize the results of previous works on linear multi-agent dynamic systems in directed network.