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.

• Type: Journal
• Year: 2010
• Where: TSMC
• Authors: Wenwu Yu, Guanrong Chen, Ming Cao, Jürgen Kurths
• Keywords: Artificial Intelligence, Nonlinear Dynamics, Second-order Consensus, Strongly Connected, TSMC 2010