Abstract
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 language | English |
|---|---|
| Pages (from-to) | 147-152 |
| Number of pages | 6 |
| Journal | IET Control Theory and Applications |
| Volume | 9 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 2 Jan 2015 |
| Externally published | Yes |
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Computer Science Applications
- Control and Optimization
- Electrical and Electronic Engineering