Design of nonlinear consensus protocols under directed communication topologies
In this paper, the consensus problem of multi-agent systems is addressed. First, we demonstrate the block cascade property of the information flow via the directed communication topology decomposition. Based on this property, we then present a feasible framework to design nonlinear protocols by means of the input-to-state stability (ISS) theory. In particular, we investigate systems of single-integrator dynamics with a class of nonlinear protocols. Finally, two numerical examples are provided to show the application of the design method.
Consensus Graph decomposition ISS Nonlinear protocol
XU Yaojin TIAN Yu-Ping
School of Automation, Southeast University, Nanjing 210096, P. R. China
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
5797-5802
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）