Eigenvalue-based approach to global consensus of nonlinear multi-agent systems
This paper investigates the global consensus of asymmetrically coupled multi-agent systems with nonlinear dynamics.By employing a Lyapunov function,a consensus criterion is presented by checking an inequality involving the smallest eigenvalue except zero of a redefined symmetric matrix associated with the asymmetric Laplacian matrix to guarantee the global consensus of the considered multi-agent systems.In particular,we show that the presented criterion is equivalent to the result by defining a generalized algebraic connectivity 21 corresponding to the Laplacian matrix.Numerical simulations are carried out to demonstrate the effectiveness of the proposed method.
Consensus Lyapunov function Second smallest eigenvalue Nonlinear dynamics
Lei Wang Ya-nan Bai Song-lin Yan Michael Z.Q.Chen
School of Mathematics and Systems Science,Beihang University,Beijing 100191,P.R.China Department of Mechanical Engineering,The University of Hong Kong,Hong Kong
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1265-1269
2014-07-28(万方平台首次上网日期,不代表论文的发表时间)