This paper studies the synchronization of a multi-agent system where theagents are coupled through heterogeneous controller gains. Synchronizationrefers to the situation where all the agents in a group have a common velocitydirection. We generalize existing results and show that by using heterogeneouscontroller gains, the final velocity direction at which the system of agentssynchronize can be controlled. The effect of heterogeneous gains on thereachable set of this final velocity direction is further analyzed. We alsoshow that for realistic systems, a limited control force to stabilize theagents to the synchronized condition can be achieved by confining theseheterogeneous controller gains to an upper bound. Simulations are given tosupport the theoretical findings.
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