Distributed Consensus of Nonlinear Multi-Agent Systems on State-Controlled Switching Topologies

作者：Chen, Kairui; Wang, Junwei^*; Zhang, Yun

来源：Entropy, 2016, 18(1): 29.

DOI：10.3390/e18010029

• multi-agent systems
• consensus
• nonlinear systems
• switching topologies
• spanning tree

This paper considers the consensus problem of nonlinear multi-agent systems under switching directed topologies. Specifically, the dynamics of each agent incorporates an intrinsic nonlinear term and the interaction topology may not contain a spanning tree at any time. By designing a state-controlled switching law, we show that the multi-agent system with the neighbor-based protocol can achieve consensus if the switching topologies jointly contain a spanning tree. Moreover, an easily manageable algebraic criterion is deduced to unravel the underlying mechanisms in reaching consensus. Finally, a numerical example is exploited to illustrate the effectiveness of the developed theoretical results.

• 出版日期2016-1
• 单位广东工业大学; 广东外语外贸大学