Stability Analysis on the Networked Multi-Agent System
Hae-In Lee, Hyo‐Sang Shin, Antonios Tsourdos · 2018
In this paper, a new stability analysis method on the networked multi-agent system is proposed. The main idea is to model the networked control system as a multi-output-multi-input transfer function and to apply the Nyquist criterion for the closed-loop stability. This paper provides two application examples: formation control of first- and second-order agents. The stability conditions are derived with the proposed method, showing the effect of network connectivity with multi-hop communication. The numerical simulations are conducted to verify the analysis. This work is applicable for general agent dynamics, controllers, and communication characteristics.