Stability of General Coupled Inertial Agents

We investigate the stability of a system of multiple inertial agents, using the decomposition approach, in which the velocity/position coupling can be generally non-balanced. The stability of the system is determined by two sorts of factors: the velocity/position coupling and the damping/stiffness gains. We indicate all possibly invariant quantities of the system and give sufficient conditions for stability. Also, our result gives a less conservative estimate to design the damping/stiffness gains of the system for stability than some other recent results.