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Abstract

The aim of this article is to investigate the convergence properties of a heterogeneous consensus model on Stiefel manifolds. We consider each agent, without interaction, moving according to the flow determined by the fundamental vector field of the right multiplication action of the orthogonal group on the Stiefel manifold. We analyze the asymptotic behavior of N such agents, assuming that, as a result of their interactions, each agent's velocity is the sum of its natural velocity and an additional velocity directed towards the average position of the N agents. If the fundamental vector fields of all agents are the same, their movement can be represented as a gradient flow on a product manifold. In this study, we specifically investigate the asymptotic behavior in a non-gradient flow setting, where the fundamental vector fields are not all the same. Since fewer tools are available to address non-gradient flows, we perform an orbital stability analysis to obtain the desired results instead of relying on a gradient flow structure. Our estimate improves upon the previous result in [Ha et al., Automatica 136 (2022)]. Furthermore, as a direct consequence of the asymptotic dynamics, we derive uniform-in-time stability with respect to the initial data.