期刊
IET CONTROL THEORY AND APPLICATIONS
卷 9, 期 1, 页码 147-152出版社
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2014.0530
关键词
directed graphs; network theory (graphs); linear matrix inequalities; multi-agent systems; Lyapunov methods; nonlinear dynamical systems; eigenvalues and eigenfunctions; nonlinear control systems; distributed control; global bounded consensus; heterogeneous multiagent systems; directed communication graph network; nonlinear dynamics; distributed consensus protocol; quadratic Lyapunov function; lower-dimension linear matrix inequalities; sufficient condition; Laplacian matrix; matrix eigenvalues; several scalar inequalities; coupling strengths; proper path strategy; limited conservatism; weighted networks; cooperative heterogeneous agents
资金
- National Natural Science Foundations of China [61004106, 61104119, 61374053]
This study investigates the consensus problem for cooperative heterogeneous agents with non-linear dynamics in a directed communication network. Global bounded consensus is studied by employing a quadratic Lyapunov function, and a distributed consensus protocol is designed by solving a few lower-dimension linear matrix inequalities associated with the dynamics of the heterogeneous agents. A sufficient condition corresponding to the semi-positive definiteness of the Laplacian matrix and the non-linear dynamics of each agent is obtained to guarantee the boundedness of consensus. In particular, to avoid the calculation of matrix eigenvalues, a sufficient condition is also obtained in the form of several scalar inequalities involving the coupling strengths and the property of all paths between agent pairs under a proper path strategy. The presented framework for designing protocols is quite simple with limited conservatism, which can be effectively used to design consensus protocols of various weighted and directed networks.
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