Distributed Consensus of Linear Multiagent Systems: Laplacian Spectra-Based Method
从频域角度研究有向拓扑下一般线性多智能体系统的一致性问题，基于拉普拉斯谱性质建立一致性判据，并针对单输入系统提出基于稳定裕度的频域一致性准则。
The consensusability problems of general linear multiagent systems considering directed topologies are explored from a frequency domain perspective in this paper. By investigating the properties of Laplacian spectra, a consensus criterion is established based on the stability of several complex weighted closed-loop systems. Furthermore, for single-input multiagent systems, frequency domain consensusability criteria are proposed on the basis of the stability margins, which depend on the H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> norm of the complementary sensitivity function determined by the agents' unstable poles. The corresponding design procedure is also developed. A numerical example is also presented to validate the proposed consensusability results.