{"id":"https://openalex.org/W4320713327","doi":"https://doi.org/10.1109/tac.2023.3245021","title":"Exponential Consensus of Multiple Agents Over Dynamic Network Topology: Controllability, Connectivity, and Compactness","display_name":"Exponential Consensus of Multiple Agents Over Dynamic Network Topology: Controllability, Connectivity, and Compactness","publication_year":2023,"publication_date":"2023-02-14","ids":{"openalex":"https://openalex.org/W4320713327","doi":"https://doi.org/10.1109/tac.2023.3245021"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3245021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3245021","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101997909","display_name":"Qichao Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qichao Ma","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-4861-3565","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053071794","display_name":"Jiahu Qin","orcid":"https://orcid.org/0000-0001-7580-0836"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiahu Qin","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China","Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0001-7580-0836","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]},{"raw_affiliation_string":"Institute of Artificial Intelligence, Hefei Comprehensive National Science Center, Hefei, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015736743","display_name":"Brian D. O. Anderson","orcid":"https://orcid.org/0000-0002-1493-4774"},"institutions":[{"id":"https://openalex.org/I118347636","display_name":"Australian National University","ror":"https://ror.org/019wvm592","country_code":"AU","type":"education","lineage":["https://openalex.org/I118347636"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Brian D. O. Anderson","raw_affiliation_strings":["School of Engineering, Australian National University, Acton, Australia","School of Engineering, Australian National University, Acton ACT, Australia"],"raw_orcid":"https://orcid.org/0000-0002-1493-4774","affiliations":[{"raw_affiliation_string":"School of Engineering, Australian National University, Acton, Australia","institution_ids":["https://openalex.org/I118347636"]},{"raw_affiliation_string":"School of Engineering, Australian National University, Acton ACT, Australia","institution_ids":["https://openalex.org/I118347636"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100447536","display_name":"Long Wang","orcid":"https://orcid.org/0000-0001-5600-8157"},"institutions":[{"id":"https://openalex.org/I20231570","display_name":"Peking University","ror":"https://ror.org/02v51f717","country_code":"CN","type":"education","lineage":["https://openalex.org/I20231570"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Wang","raw_affiliation_strings":["Center for Systems and Control, College of Engineering, Peking University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-5600-8157","affiliations":[{"raw_affiliation_string":"Center for Systems and Control, College of Engineering, Peking University, Beijing, China","institution_ids":["https://openalex.org/I20231570"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":4.1725,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.94341254,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"68","issue":"12","first_page":"7104","last_page":"7119"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10502","display_name":"Advanced Memory and Neural Computing","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6025735139846802},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.5753114223480225},{"id":"https://openalex.org/keywords/controllability","display_name":"Controllability","score":0.5743740200996399},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5540284514427185},{"id":"https://openalex.org/keywords/consensus","display_name":"Consensus","score":0.5331823825836182},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.5162208080291748},{"id":"https://openalex.org/keywords/laplacian-matrix","display_name":"Laplacian matrix","score":0.4976384937763214},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.46046754717826843},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3427605926990509},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.32312893867492676},{"id":"https://openalex.org/keywords/laplace-operator","display_name":"Laplace operator","score":0.2993795871734619},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.20909333229064941},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.09429165720939636}],"concepts":[{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6025735139846802},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.5753114223480225},{"id":"https://openalex.org/C48209547","wikidata":"https://www.wikidata.org/wiki/Q1331104","display_name":"Controllability","level":2,"score":0.5743740200996399},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5540284514427185},{"id":"https://openalex.org/C107107730","wikidata":"https://www.wikidata.org/wiki/Q2994424","display_name":"Consensus","level":3,"score":0.5331823825836182},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.5162208080291748},{"id":"https://openalex.org/C115178988","wikidata":"https://www.wikidata.org/wiki/Q772067","display_name":"Laplacian matrix","level":3,"score":0.4976384937763214},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.46046754717826843},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3427605926990509},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.32312893867492676},{"id":"https://openalex.org/C165700671","wikidata":"https://www.wikidata.org/wiki/Q203484","display_name":"Laplace operator","level":2,"score":0.2993795871734619},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.20909333229064941},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.09429165720939636},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3245021","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3245021","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3181167558","display_name":null,"funder_award_id":"62036002","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4447045731","display_name":null,"funder_award_id":"62003322","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8898690338","display_name":null,"funder_award_id":"61922076","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":48,"referenced_works":["https://openalex.org/W83533993","https://openalex.org/W607068030","https://openalex.org/W1704046943","https://openalex.org/W1967509640","https://openalex.org/W1997974219","https://openalex.org/W2030877649","https://openalex.org/W2038924143","https://openalex.org/W2044319005","https://openalex.org/W2054585537","https://openalex.org/W2057609625","https://openalex.org/W2061642527","https://openalex.org/W2073078790","https://openalex.org/W2074699211","https://openalex.org/W2100098232","https://openalex.org/W2103759346","https://openalex.org/W2125668987","https://openalex.org/W2143181390","https://openalex.org/W2150480157","https://openalex.org/W2159499856","https://openalex.org/W2160643434","https://openalex.org/W2165744313","https://openalex.org/W2171153629","https://openalex.org/W2283198471","https://openalex.org/W2343116507","https://openalex.org/W2497568066","https://openalex.org/W2570710185","https://openalex.org/W2581258406","https://openalex.org/W2595897327","https://openalex.org/W2744780097","https://openalex.org/W2758835977","https://openalex.org/W2783683139","https://openalex.org/W2792344936","https://openalex.org/W2793004627","https://openalex.org/W2889271242","https://openalex.org/W2890853188","https://openalex.org/W2962861899","https://openalex.org/W2963079371","https://openalex.org/W2963649943","https://openalex.org/W2963911260","https://openalex.org/W3017463949","https://openalex.org/W3032057537","https://openalex.org/W3081465300","https://openalex.org/W3100692755","https://openalex.org/W3114306987","https://openalex.org/W4220758003","https://openalex.org/W4229706427","https://openalex.org/W4238591275","https://openalex.org/W6696128405"],"related_works":["https://openalex.org/W1976531026","https://openalex.org/W2784026553","https://openalex.org/W2784200061","https://openalex.org/W2333731806","https://openalex.org/W2105579141","https://openalex.org/W3046085425","https://openalex.org/W2789508741","https://openalex.org/W3127518712","https://openalex.org/W3015193177","https://openalex.org/W2118264468"],"abstract_inverted_index":{"In":[0],"this":[1,107,204,223],"paper,":[2],"we":[3,96,166,188,206],"investigate":[4,59,189],"the":[5,33,53,65,78,93,125,129,141,150,162,179,191,213,237,249,262],"problem":[6],"of":[7,47,50,52,77,100,106,109,118,143,156,159,161],"securing":[8],"exponentially":[9,39],"fast":[10,40],"consensus":[11,13,41,241],"(exponential":[12],"for":[14,16,83,184],"short)":[15],"identical":[17],"agents":[18,80],"with":[19],"finite-dimensional":[20],"linear":[21,79],"system":[22,66],"dynamics":[23],"over":[24],"dynamic":[25],"network":[26,94,122,180,219],"topology.":[27,220],"Our":[28],"aim":[29],"is":[30,73,81,111,182,226,265],"to":[31,87,113,153,197,211],"find":[32],"weakest":[34],"possible":[35],"conditions":[36,91,258],"that":[37,75,128,168,228],"guarantee":[38,198],"using":[42],"a":[43,48,98,115,145,157,169,208,231],"Lyapunov":[44,151],"function":[45,152],"consisting":[46,155],"sum":[49,158],"terms":[51,160],"same":[54,163],"functional":[55,164],"form.":[56],"We":[57],"first":[58],"necessary":[60,82,90,183],"conditions,":[61],"starting":[62],"by":[63,229],"examining":[64],"(both":[67],"agent":[68,216],"and":[69,148,218,235,246,256,261],"network)":[70],"parameters.":[71],"It":[72],"found":[74],"controllability":[76,257],"reaching":[84],"consensus.":[85,186,200],"Then,":[86],"work":[88,195],"out":[89],"incorporating":[92],"topology,":[95,123],"construct":[97],"set":[99,108],"Laplacian":[101],"matrix-valued":[102],"functions.":[103,139],"The":[104],"precompactness":[105,146,238],"functions":[110,136],"shown":[112,227],"be":[114,243],"significant":[116],"generalization":[117],"existing":[119],"assumptions":[120],"on":[121,178,222],"including":[124],"common":[126],"assumption":[127,147],"edge":[130],"weights":[131],"are":[132,259],"bounded":[133],"piecewise":[134],"constant":[135],"or":[137],"continuous":[138],"With":[140],"aid":[142],"such":[144],"restricting":[149],"one":[154],"form,":[165],"prove":[167],"joint":[170,250],"<inline-formula":[171,251],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[172,252],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[173,253],"notation=\"LaTeX\">$(\\delta,":[174],"T)$</tex-math></inline-formula>":[175],"-connectivity":[176,255],"condition":[177],"topology":[181],"exponential":[185,199,240],"Finally,":[187],"how":[190],"above":[192],"two":[193],"\u201cnecessities\u201d":[194],"together":[196],"To":[201],"partially":[202],"address":[203],"problem,":[205],"define":[207],"synchronization":[209,263],"index":[210,264],"characterize":[212],"interplay":[214],"between":[215],"parameters":[217],"Based":[221],"notion,":[224],"it":[225],"designing":[230],"proper":[232],"feedback":[233],"matrix":[234],"under":[236],"assumption,":[239],"can":[242],"reached":[244],"globally":[245],"uniformly":[247],"if":[248],"notation=\"LaTeX\">$(\\delta,T)$</tex-math></inline-formula>":[254],"satisfied,":[260],"not":[266],"less":[267],"than":[268],"one.":[269]},"counts_by_year":[{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
