Open AccessGlobal bounded consensus in heterogeneous multi‐agent systems with directed communication graph
Author(s) -
Wang Lei,
Feng Weijie,
Chen Michael Z.Q.,
Wang Qingguo
Publication year - 2015
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2014.0530
Subject(s) - bounded function , multi agent system , uniform consensus , directed graph , computer science , graph , consensus , distributed computing , mathematical optimization , control theory (sociology) , mathematics , theoretical computer science , artificial intelligence , algorithm , control (management) , mathematical analysis
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.