Joining consensus of networked multi-agent systems with nonlinear couplings and weighting constraints |
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| Authors: | Bohui Wang Langwen Zhang Yang Ge |
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| Affiliation: | Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China |
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| Abstract: | This paper studies the joining consensus of networked multi-agent systems subject to nonlinear couplings and weighted directed graphs via pinning control. A weighted-average consensus protocol is proposed to achieve the collective decision by interacting with the local information of some pinned agents. By proposing a novel joining consensus protocol, average consensus and general consensus strategies are joined to achieve an agreement for the weighting networked system. Furthermore, by calculating a proper consensus gain and using finite control Lyapunov controllers, an efficient joining consensus protocol is presented to improve the consensus speed. Sufficient conditions for achieving the consensuses asymptotically are proved. Finally, theoretical results are validated via simulations. |
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| Keywords: | networked multi-agent systems average consensus joining consensus pinning control weighting constraints finite pinning control Lyapunov functions |
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