Title :
On consensus of nonlinear multi-agent systems under directed interaction topologies
Author_Institution :
Dept. of Math., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
In a consensus problem, autonomous agents constituting a dynamical system communicate with one another to reach agreement on certain quantities of interest. By merging control theory and spectral graph theory, we generalize the previous consensus problems under nonlinear protocols for networks with undirected graphs to directed graphs. We prove that, when the nonlinear protocol is strictly increasing, consensus can be achieved if and only if the underlying directed interaction graph has a spanning tree. Numerical examples are taken to show the effectiveness of our theoretical results.
Keywords :
directed graphs; multi-robot systems; network theory (graphs); nonlinear control systems; nonlinear dynamical systems; protocols; trees (mathematics); autonomous agent; consensus problem; control theory; directed graph network; directed interaction topology; dynamical system; nonlinear multiagent system; nonlinear protocol; spanning tree; spectral graph theory; undirected graph network; Autonomous agents; Couplings; Graph theory; Laplace equations; Mathematics; Merging; Multiagent systems; Protocols; Topology; Tree graphs; consensus problem; graph Laplacian; multi-agent system; nonlinear protocol;
Conference_Titel :
Cyber-Enabled Distributed Computing and Knowledge Discovery, 2009. CyberC '09. International Conference on
Conference_Location :
Zhangijajie
Print_ISBN :
978-1-4244-5218-7
Electronic_ISBN :
978-1-4244-5219-4
DOI :
10.1109/CYBERC.2009.5342209
