Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics.
This paper considers a second-order consensus problem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and velocity consensus terms with a time-varying asymptotic velocity. To describe the system's ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree. Some sufficient conditions are derived for reaching second-order consensus in multiagent systems with nonlinear dynamics based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples are given to verify the theoretical analysis.
Yu
Wenwu
W
Department of Electronic Engineering, City University of Hong Kong, Kowloon, Hong Kong. wenwuyu@gmail.com
Chen
Guanrong
G
Cao
Ming
M
Kurths
Jürgen
J
D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D003661:Decision Support Techniques; D008962:Models, Theoretical; D017711:Nonlinear Dynamics