论扩散耦合多智能体系统的内部稳定性及抵消文化的风险
On the Internal Stability of Diffusively Coupled Multi-Agent Systems and the Dangers of Cancel Culture
AI总结：
本文研究扩散耦合多智能体系统的内部稳定性，推导得出该类控制器无法稳定含共有不稳定动力学智能体的条件，指出其内在动力学抵消机制解释了相关协议受扰动时的不良表现。
摘要：
我们针对线性时不变智能体，研究了多智能体系统中常见的扩散耦合控制架构（即知名的一致性协议）场景下的内部稳定性问题。我们推导得出了一类条件，在该条件下不存在任何属于该类别的控制器能够使系统稳定。在有限维场景下，该条件表明扩散控制器无法稳定存在共有不稳定动力学（包含方向特性）的智能体，这类智能体始终包含同构不稳定智能体组，例如积分器。我们论证其根本原因是这类控制器（甚至静态控制器）会对智能体的不稳定动力学产生内在抵消，其中方向特性起到关键作用。这种内部稳定性的内在缺失，解释了部分分布式控制协议在受测量噪声或外部扰动影响时出现的不良特性。
英文摘要：
We study internal stability in the context of diffusively-coupled control architectures, common in multi-agent systems (i.e. the celebrated consensus protocol), for linear time-invariant agents. We derive a condition under which the system can not be stabilized by any controller from that class. In the finite-dimensional case the condition states that diffusive controllers cannot stabilize agents that share common unstable dynamics, directions included. This class always contains the group of homogeneous unstable agents, like integrators. We argue that the underlying reason is intrinsic cancellations of unstable agent dynamics by such controllers, even static ones, where directional properties play a key role. The intrinsic lack of internal stability explains the notorious behavior of some distributed control protocols when affected by measurement noise or exogenous disturbances.
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