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Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics

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4 Author(s)
Wenwu Yu ; Dept. of Electron. Eng., City Univ. of Hong Kong, Kowloon, China ; Guanrong Chen ; Ming Cao ; Kurths, J.

This paper considers a second-order consensus problem for multiagent systems with nonlinear dynamics and directed topologies where each agent is governed by both position and velocity consensus terms with a time-varying asymptotic velocity. To describe the system's ability for reaching consensus, a new concept about the generalized algebraic connectivity is defined for strongly connected networks and then extended to the strongly connected components of the directed network containing a spanning tree. Some sufficient conditions are derived for reaching second-order consensus in multiagent systems with nonlinear dynamics based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples are given to verify the theoretical analysis.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:40 ,  Issue: 3 )