Global Behavior of Dynamical Agents in Directed Network

This paper investigates the aggregation behavior of controlled dynamical agents in directed network. The agents are Lyapunov stable distributed in a line and communicate by directed network. The communication topology of network is characterized by a directed graph and the control protocol is designed in simple linear feedback law. We study the conditions under which agents will achieve aggregation behaviors, critical and divergent case . Numerical simulations are given and they demonstrate that our theoretical results are effective.