矩阵权重有向图下的多智能体分布式镇定
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青岛大学自动化学院

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TP273

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国家自然科学基金(62373205, 62033007), 山东省泰山学者特聘教授人才支持计划(tstp20230624),山东省泰山学者攀登计划和青岛大学系统科学+联合攻关项目(XT2024101)


Distributed stabilization of Multi-Agent Systems Under Matrix-Weighted Directed Graphs
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    摘要:

    本文研究矩阵权重有向图下多智能体系统的可镇定性与分散镇定问题. 引入矩阵权重独立强连通分量的概念, 结合块拉普拉斯矩阵分解, 建立了系统可镇定的充要条件; 在附加拉普拉斯核空间结构的假设下, 给出了更易检验的秩判据. 针对分散状态反馈情形, 构造了由局部闭环子块稳定性推出整体闭环稳定的分析框架, 给出了闭环系统渐近稳定的充分条件. 进一步地, 在局部标量型反馈增益情形下, 提出了一种构造输入选择矩阵的方法. 数值仿真结果表明, 所提方法可在仅控制部分节点的部分状态分量的情况下实现闭环系统渐近稳定, 并在较大规模矩阵权重网络上验证了其可行性. 本文结果将标量权重网络中基于 iSCC 的可镇定性结论推广到矩阵权重情形, 为矩阵权重多智能体系统的分散稳定化设计提供了理论参考.

    Abstract:

    This paper investigates the stabilizability and decentralized stabilization of multi-agent systems under matrix-weighted directed graphs. By introducing the concept of matrix-weighted independent strongly connected components and exploiting the decomposition of the block Laplacian matrix, a necessary and sufficient condition for system stabilizability is established. Under an additional assumption on the null-space structure of the Laplacian, a rank-based criterion that is easier to verify is further derived. For the case of decentralized state feedback, an analytical framework is developed to infer the stability of the overall closed-loop system from the stability of local closed-loop subblocks, and sufficient conditions for the asymptotic stability of the closed-loop system are obtained. Furthermore, under the setting of scalar-type local feedback gains, a method for constructing the input selection matrix is proposed. Numerical simulations show that the proposed method can achieve asymptotic stability of the closed-loop system by controlling only partial state components of a subset of nodes, and its feasibility is verified on larger-scale matrix-weighted networks. The results extend the iSCC-based stabilizability conclusions for scalar-weighted networks to the matrix-weighted case, and provide a theoretical reference for the decentralized stabilization design of matrix-weighted multi-agent systems.

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  • 收稿日期:2026-03-26
  • 最后修改日期:2026-06-09
  • 录用日期:2026-06-11
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