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The consensus protocol for multi-agent systems based on the algebraic connectivity

The paper studies the consensus protocol of the time invariant multi-agent continuous systems. Based on the direct graph Laplacian matrix theory and it's the second smallest eigenvalue of communication topology, we study the continuous-time integrator agents dynamics system. The issue of stability of the systems is analyzed and the convergence problem of the information states is also discussed. Two examples are presented to show the effectiveness of the results of this paper.