This paper explores the use of Kharitonov's Theorem on a class of linear multiagent systems. First, we study a network of the $m$th order ($m\geq 2$) linear uncertain interval plants and provide conditions for achieving full-state consensus, which relate the stability margins of each agent to the spectrum of the graph Laplacian. Then, a robustness analysis for such systems is presented when an edge weight in the underlying graph is perturbed. The same Kharitonov-based analysis proves useful in a related problem, where heterogeneous higher order linear models of agents are considered in a setup similar to pinning control, and conditions for consensus among the follower agents are derived. Numerous simulation examples validate the results.

中文翻译：

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高阶代理人的共识：鲁棒性和异构性

本文探讨了Kharitonov定理在一类线性多智能体系统上的使用。首先，我们研究一个$ m $顺序（$ m \ geq 2 $）线性不确定区间工厂，并提供了实现全状态共识的条件，这些条件将每个代理的稳定裕度与图拉普拉斯图谱联系起来。然后，当基础图中的边缘权重受到扰动时，将给出针对此类系统的鲁棒性分析。相同的基于Kharitonov的分析在一个相关问题中被证明是有用的，在该问题中，类似于固定控制的设置中考虑了代理的异质高阶线性模型，并得出了追随者之间达成共识的条件。大量的仿真示例验证了结果。