DocumentCode :
1448427
Title :
Distributed Higher Order Consensus Protocols in Multiagent Dynamical Systems
Author :
Yu, Wenwu ; Chen, Guanrong ; Ren, Wei ; Kurths, Jürgen ; Zheng, Wei Xing
Author_Institution :
Dept. of Math., Southeast Univ., Nanjing, China
Volume :
58
Issue :
8
fYear :
2011
Firstpage :
1924
Lastpage :
1932
Abstract :
This paper studies general higher order distributed consensus protocols in multiagent dynamical systems. First, network synchronization is investigated, with some necessary and sufficient conditions derived for higher order consensus. It is found that consensus can be reached if and only if all subsystems are asymptotically stable. Based on this result, consensus regions are characterized. It is proved that for the m th-order consensus, there are at most ⌊(m+1)/2⌋ disconnected stable and unstable consensus regions. It is shown that consensus can be achieved if and only if all the nonzero eigenvalues of the Laplacian matrix lie in the stable consensus regions. Moreover, the ratio of the largest to the smallest nonzero eigenvalues of the Laplacian matrix plays a key role in reaching consensus and a scheme for choosing the coupling strength is derived. Furthermore, a leader-follower control problem in multiagent dynamical systems is considered, which reveals that to reach consensus the agents with very small degrees must be informed. Finally, simulation examples are given to illustrate the theoretical analysis.
Keywords :
Lyapunov matrix equations; asymptotic stability; eigenvalues and eigenfunctions; graph theory; mobile robots; multi-robot systems; Laplacian matrix; algebraic graph theory; asymptotic stability; autonomous mobile agents; consensus regions; distributed higher order consensus protocols; leader-follower control problem; multiagent dynamical systems; network synchronization; nonzero eigenvalues; Complex networks; Eigenvalues and eigenfunctions; Laplace equations; Multiagent systems; Polynomials; Protocols; Synchronization; Algebraic graph theory; consensus region; higher order consensus; leader-follower control; multiagent system;
fLanguage :
English
Journal_Title :
Circuits and Systems I: Regular Papers, IEEE Transactions on
Publisher :
ieee
ISSN :
1549-8328
Type :
jour
DOI :
10.1109/TCSI.2011.2106032
Filename :
5711689
Link To Document :
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