Inertial Hegselmann-Krause Systems

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We derive an energy bound for inertial Hegselmann-Krause (HK) systems, which are a variant of the classic HK model that allows agents to change weights as they please at each step. We use the bound to prove the convergence of HK systems with static agents, which settles a widely believed conjecture. This paper also introduces anchored HK systems and show their equivalence to the symmetric heterogeneous model.

Original languageEnglish (US)
Article number7795162
Pages (from-to)3905-3913
Number of pages9
JournalIEEE Transactions on Automatic Control
Issue number8
StatePublished - Aug 2017
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


  • Hegselmann-Krause (HK)
  • model organism

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