Decentralized Consensus Criteria of Linear Multiagent Systems via Directed-Spanning-Tree-Based Linear Transformation

This paper investigates the decentralized consensus criteria of linear multi-agent systems (MAS) via a directed-spanning-tree-based linear transformation method. Firstly, we utilize the incidence matrix of a directed spanning tree to construct a linear transformation so that equivalently transform the consensus problem into a stability problem. Secondly, the transformed system is decomposed into a decentralized system so that the stability criteria can be obtained in a decentralized form. Thus, some sufficient criteria for the MAS in decentralized form are deduced. Simulation example is presented to verify the effectiveness of the theoretical results.