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		Hongwang YU,Yufan ZHENG.[en_title][J].Control Theory and Technology,2009,7(3):307~314.[Copy]

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HongwangYU,YufanZHENG
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Received:April 24, 2007Revised:June 11, 2008

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Global behavior of dynamical agents in directed network

Hongwang YU, Yufan ZHENG

(School of Mathematics and Statistic, Nanjing Audit University, Nanjing Jiangsu 211815, China; Department of Mathematics, East China Normal University, Shanghai 200062, China)

Abstract:

This paper investigates the global behavior of controlled dynamical agents in directed networks. The agents are Lyapunov stable, are distributed in a line, and communicate through a directed network. The communication topology of the network is characterized by a directed graph and the control protocol is designed in simple linear decentralized feedback law. We study the different conditions under which agents will achieve aggregation, and critical and divergent trajectories, respectively. Our investigation on the dynamical agent system under network is extended to the time-delay network case. Furthermore, we study the case with two pre-specified virtual leaders in the system. Numerical simulations are given and demonstrate that our theoretical results are effective.

Key words: Dynamical agents Directed graph Laplacian Hurwitz criteria