Novel Stability Conditions for Nonlinear Monotone Systems and Consensus in Multiagent Networks

We introduce a novel definition of monotonicity, termed “type-K” in honor of Kamke, and study nonlinear type-K monotone dynamical systems possessing the plus-subhomogeneity property, which we call “K-subtopical” systems after Gunawardena and Keane. We show that type-K monotonicity, which is weaker than strong monotonicity, is also equivalent to monotonicity for smooth systems evolving in continuous-time but not in discrete-time. K-subtopical systems are proved to converge toward equilibrium points, if any exists, generalizing the result of Angeli and Sontag about the convergence of topical systems' trajectories toward the unique equilibrium point when strong monotonicity is considered. The theory provides a new methodology to study the consensus problem in nonlinear multiagent systems (MASs). Necessary and sufficient conditions on the local interaction rule of the agents ensuring the K-subtopicality of MASs are provided, and the consensus is proven to be achieved asymptotically by the agents under given connectivity assumptions on directed graphs. Examples of continuous-time and discrete-time corroborate the relevance of our results in different applications.