Global bounded consensus in heterogeneous multi-agent systems with directed communication graph

Lei Wang, Wei Jie Feng, Michael Z.Q. Chen, Qing Guo Wang

Research output: Contribution to journalArticlepeer-review

27 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)147-152
Number of pages6
JournalIET Control Theory and Applications
Issue number1
Publication statusPublished - 2 Jan 2015
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Human-Computer Interaction
  • Computer Science Applications
  • Control and Optimization
  • Electrical and Electronic Engineering


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