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It is well-known that a digraph has a spanning tree if and only if its graph Laplacian (matrix) has a simple zero eigenvalue and all the other nonzero eigenvalues have positive real parts. Different from the approach of matrix and graph theory, this paper proposes a novel proof based on a LaSalle invariance principle. Firstly, it is shown that the max-min function considered in present literature is a weak Lyapunov function for the error dynamic based on the coordinate transformation with any convex combination of the agents’ states. Thus, the steady-state behavior can be characterized by the spanning tree condition. Secondly, the proof relates directly the steady-state studies to the graph property. Such an approach has a potential to extend similar results to more complex systems such as nonlinear systems or time-varying systems, and thus provides a new point of view in studying consensus problems of multi-agent systems. Both of them may provide a new point of view in studying consensus problems. © 2023, International Frequency Sensor Association (IFSA). All rights reserved.
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5.0
Year: 2023
Volume: 2023
Page: 44-48
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ESI Highly Cited Papers on the List: 0 Unfold All
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