Collective behavior of second-order multi-agent systems with velocity damping

This paper studies the collective behavior of second-order asymmetry multi-agent systems with velocity damping. The model under consideration was given by Ren and Atkin. The agents of system will tend asymptotically to equilibrium positions if the dynamics of agents satisfy some mild condition. As the network of system is directed and its underlying graph is connected, whole system can be decomposed into independent basic subsystems and non-independent subsystem. All agents of each independent basic subsystems tend to their own consistent positions; all agents of non-independent subsystem tend inside of some convex set combined by the consistent position of all independent basic subsystems. All agents of system tend to a consistent position if and only if there is only one independent basic subsystem in the system.