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

Yu, W., Chen, G., Cao, M., Kurths, J. & Kurths, J., Jun-2010, In : IEEE Transactions on Systems, Man, and Cybernetics. Part B: Cybernetics. 40, 3, p. 881-891 11 p.

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  • Wenwu Yu
  • Guanrong Chen
  • Ming Cao
  • Juergen Kurths
  • Jürgen Kurths

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.

Original languageEnglish
Pages (from-to)881-891
Number of pages11
JournalIEEE Transactions on Systems, Man, and Cybernetics. Part B: Cybernetics
Issue number3
Publication statusPublished - Jun-2010


  • Algebraic connectivity, directed spanning tree, multiagent system, second-order consensus, strongly connected network, GLOBAL SYNCHRONIZATION, ADAPTIVE SYNCHRONIZATION, COMPLEX NETWORKS, NEURAL-NETWORKS, LEADER, DELAYS, ARRAY, MODEL

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