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The purpose of this short paper is to provide a theoretical analysis for theconsensus problem under nonlinear protocols. A main contribution of this workis to generalize the previous consensus problems under nonlinear protocols fornetworks with undirected graphs to directed graphs (information flow). Ourtheoretical result is that if the directed graph is strongly connected and thenonlinear protocol is strictly increasing, then consensus can be realized. Somesimple examples are also provided to demonstrate the validity of ourtheoretical result.

Consensus Problems in Networks of Agents under Nonlinear Protocols with Directed Interaction Topology