title: Second-order consensus for multiagent systems with directed topologies and nonlinear dynamics.
abstract: 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.
authors.affiliation: Department of Electronic Engineering, City University of Hong Kong, Kowloon, Hong Kong. wenwuyu@gmail.com
authors.forename: Wenwu
authors.initials: W
authors.lastname: Yu
authors.forename: Guanrong
authors.initials: G
authors.lastname: Chen
authors.forename: Ming
authors.initials: M
authors.lastname: Cao
authors.forename: Jürgen
authors.initials: J
authors.lastname: Kurths
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D003661:Decision Support Techniques; D008962:Models, Theoretical; D017711:Nonlinear Dynamics