中文摘要：

基于二阶自主群体的有向网络，提出一种应用个体局部信息的分布式控制协议。利用Lyapunov稳定性理论研究了自主群体动态行为的稳定性，证明了在弱连通网络拓扑结构中，当系统中所有的自主体都不能获得领航者信息时，所有的自主体能够取得群集运动；假设系统中至少有一个自主体可获得领航者信息时，系统中所有的自主体最终能够收敛于领航者的速度。最后通过一个例子进行仿真实验，验证了所得结论的正确性。

英文摘要：

Based on directed connected network of a second-order agent group, a distributed control protocol with individual local information is proposed. The stability of dynamic behavior on agents is researched by using Lyapunov stability theory. It proves that（ 1 ） all of the agents enable to achieve flocking motion when none of the agents receive information from leader, （2） the distributed control protocol still enables to make all the agents eventually converge to the leader＇ s speed when at least one agent receives the leader＇ s information,in the weakly connected network topology. Finally, a simulation example is given to verify the correctness of the conclusion.