摘要：AbstractWe address the consensus problem with connectivity maintenance for networks of multi-agent systems interconnected over directed spanning tree graphs in the edge-agreement space and, for the first time in the literature, we provide a strict Lyapunov function. The importance of this contribution is that it allows to establish uniform global asymptotic stability of the consensus manifold for a multi-agent system subject to proximity constraints. Moreover, robustness in the sense of input-to-state stability with respect to external disturbances is also established. These properties have not been established before when dealing with state-dependent constraints, even for a class of directed graphs, because most often in the literature only non-uniform convergence to the consensus manifold is established.
关键词：KeywordsMulti-agent systemsDirected graphsControl under communication constraintsLyapunov methods
