Swarm Stability Analysis of High-Order Linear Time-Invariant Singular Multiagent Systems

<table>Trajectories of three agents in the first instance with non-admissible bounded initial <svg height="14.85" id="M419" style="vertical-align:-2.22495pt" version="1.1" viewbox="0 0 59.862499 14.85" width="59.862499" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.012)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g><g transform="matrix(.017,-0,0,-.017,10.568,12.012)"><path d="M448 1h-83q-118 0 -201.5 74.5t-83.5 179.5t83.5 179.5t201.5 74.5h83v-50h-84q-87 0 -150.5 -51.5t-73.5 -127.5h308v-50h-308q10 -76 73.5 -127.5t150.5 -51.5h84v-50z" id="x2208"></path></g><g transform="matrix(.017,-0,0,-.017,24.269,12.012)"><path d="M290 -163h-170v866h170v-28q-79 -7 -94 -19.5t-15 -72.5v-627q0 -59 14.5 -71.5t94.5 -19.5v-28z" id="x5B"></path></g><g transform="matrix(.017,-0,0,-.017,30.133,12.012)"><path d="M241 635q53 0 94 -28.5t63.5 -76t33.5 -102.5t11 -116q0 -58 -11 -112.5t-34 -103.5t-63.5 -78.5t-94.5 -29.5t-95 28t-64.5 75t-34.5 102.5t-11 118.5q0 58 11.5 112.5t34.5 103t64.5 78t95.5 29.5zM238 602q-32 0 -55.5 -25t-35.5 -68t-17.5 -91t-5.5 -105
q0 -76 10 -138.5t37 -107.5t69 -45q32 0 55.5 25t35.5 68.5t17.5 91.5t5.5 105t-5.5 105.5t-18 92t-36 68t-56.5 24.5z" id="x30"></path></g><g transform="matrix(.017,-0,0,-.017,45.772,12.012)"><path d="M447 623l8 -12l-283 -613l-74 -10l-7 11q174 283 297 551h-216q-48 0 -62.5 -12t-33.5 -63h-29q10 60 18 148h382z" id="x37"></path></g><g transform="matrix(.017,-0,0,-.017,53.932,12.012)"><path d="M226 -163h-170v27q79 7 94 20t15 73v627q0 59 -15 72t-94 20v27h170v-866z" id="x5D"></path></g>
</svg>.</table>

Mathematical Problems in Engineering

fig4

Figure 4

Figure 4: Swarm Stability Analysis of High-Order Linear Time-Invariant Singular Multiagent Systems 