Consensus of Heterogeneous Nonlinear Multiagent Systems With Duplex Control Laws

• Published in: IEEE transactions on automatic control Vol. 64; no. 12; pp. 5140 - 5147
• Main Authors: Yang, Shaofu, Wang, Jun, Liu, Qingshan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01-12-2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Consensus; Control systems; Control theory; Decentralized control; distributed optimization; duplex control law; heterogeneous nonlinear multiagent systems; Integrals; Multi-agent systems; Multiagent systems; Nonlinear dynamical systems; Nonlinear systems; Optimization; Parameter estimation; Proportional control; Remote sensors; Synchronization; Wireless sensor networks
• ISSN: 0018-9286; 1558-2523
• DOI: 10.1109/TAC.2019.2912533

This note addresses the consensus of heterogeneous nonlinear multiagent systems with duplex control laws including the integral control law and the proportional control law. Sufficient conditions are derived to ascertain the consensus of multiagent systems under directed communication graphs. It is shown herein that the connectivity of the communication graph underlying the integral control law is more important than that of proportional one for consensus and that the graph underlying the proportional control law does not need to be connected. It is also shown that the heterogeneous nonlinear multiagent systems are applicable for distributed optimization. In particular, simulation results on the nonlinear multiagent system for distributed parameter estimation in a wireless sensor network are provided to substantiate the theoretical results.