Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics
City University of Hong Kong · University of Groningen · +2 more institutions
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,…
Citation impact
- FWCI
- 35.18
- Percentile
- 100%
- References
- 48
Authors
4Topics & keywords
- Algebraic graph theory
- Multi-agent system
- Network topology
- Algebraic connectivity
- Nonlinear system
- Consensus
- Strongly connected component
- Spanning tree