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Nonlinear consensus protocol design for multi-agent systems under directed topology
XU Yaojin 1 #,TIAN Yuping 2 *
1.School of Automation, Southeast University, NanJing 210096
2.School of Automation, Southeast University, Nanjing 210096
*Correspondence author
#Submitted by
Subject:
Funding: the Specialized Research Fund forthe Doctoral Program of Higher Education of China （No.20090092110021）, National Natural Science Foundation of China（No.60974041,60934006）
Opened online:11 January 2013
Accepted by: none
Citation: XU Yaojin,TIAN Yuping.Nonlinear consensus protocol design for multi-agent systems under directed topology[OL]. [11 January 2013] http://en.paper.edu.cn/en_releasepaper/content/4512614
 
 
In this paper, the problem of consensus of multi-agent systems is investigated, and a framework for the nonlinear protocol design is proposed. First, the block cascade property of the information flow is demonstrated via the decomposition of the directed communication graph. Then, the interactions among different agent groups are described by means of the input-to-state stability theory. Within the proposed framework, multi-agent systems with single-integrator dynamics are particularly investigated with a class of nonlinear protocols. Finally, numerical examples are provided to show the effectiveness of the designed protocol.
Keywords:consensus; nonlinear protocol; graph decomposition; input-to-state stability
 
 
 

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