Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics
Wenwu Yu and Guanrong Chen and Ming Cao and Kurths, J.

@ARTICLE{5313874,
author={Wenwu Yu and Guanrong Chen and Ming Cao and Kurths, J.},
journal={Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on},
title={Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics},
year={2010},
volume={40},
number={3},
pages={881-891},
abstract={This paper considers a second-order consensus problem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and velocity consensus terms with a time-varying asymptotic velocity. To describe the system's ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree. Some sufficient conditions are derived for reaching second-order consensus in multiagent systems with nonlinear dynamics based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples are given to verify the theoretical analysis.},
keywords={Lyapunov methods;matrix algebra;mobile robots;multi-agent systems;nonlinear dynamical systems;trees (mathematics);Lyapunov control approach;algebraic graph theory;directed topologies;generalized algebraic connectivity;matrix theory;multiagent systems;nonlinear dynamics;position-velocity consensus;second-order consensus;Algebraic connectivity;directed spanning tree;multiagent system;second-order consensus;strongly connected network;Algorithms;Artificial Intelligence;Computer Simulation;Decision Support Techniques;Models, Theoretical;Nonlinear Dynamics},
doi={10.1109/TSMCB.2009.2031624},
ISSN={1083-4419},
month={June},}