Graphs and algorithms
State Agreement for Continuous-Time Coupled Nonlinear Systems
SIAM Journal on Control and Optimization
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
Connectedness Preserving Distributed Swarm Aggregation for Multiple Kinematic Robots
IEEE Transactions on Robotics
Automatica (Journal of IFAC)
Consensus in switching networks with sectorial nonlinear couplings: Absolute stability approach
Automatica (Journal of IFAC)
Consensus on compact Riemannian manifolds
Information Sciences: an International Journal
Hi-index | 22.15 |
This paper is concerned with the convergence of a class of continuous-time nonlinear consensus algorithms for single integrator agents. In the consensus algorithms studied here, the control input of each agent is assumed to be a state-dependent combination of the relative positions of its neighbors in the information flow graph. Using a novel approach based on the smallest order of the nonzero derivative, it is shown that under some mild conditions the convex hull of the agents has a contracting property. A set-valued LaSalle-like approach is subsequently employed to show the convergence of the agents to a common point. The results are shown to be more general than the ones reported in the literature in some cases. An illustrative example demonstrates how the proposed convergence conditions can be verified.