Distributed Consensus Control of Linear Multiagent Systems With Adaptive Nonlinear Couplings

This paper addresses the consensus problem of linear multiagent systems via nonlinear couplings. First, we show that the multiagent system can achieve consensus via nonlinear couplings provided the coupling strength surpasses a threshold, which depends on the smallest nonzero eigenvalue of the interaction graph Laplacian. Second, an adaptive coupling protocol is proposed to adjust the coupling strength without any usage of global information. Some numerical simulations are given to illustrate the effectiveness of the proposed protocols.

Automated summary

This paper discusses the consensus issue in linear multiagent systems using nonlinear couplings. It demonstrates that consensus can be achieved with nonlinear couplings as long as the coupling strength surpasses a threshold, which is dependent on the smallest nonzero eigenvalue of the interaction graph Laplacian. Additionally, an adaptive coupling protocol is proposed to adjust the coupling strength without the need for global information, with numerical simulations confirming the effectiveness of the proposed method.