Consensus analysis of large-scale nonlinear homogeneous multiagent formations with polynomial dynamics

DOI10.1002/RNC.4334MaRDI QIDQ4626648zbMATH OpenOpenAlexWikidataFDO

Authors Paolo Massioni, Gerard Scorletti

Publication date 28 February 2019

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1612.01375

zbMATH Keywords

consensuslinear matrix inequalitiesmultiagent systemsnonlinear systemspolynomial dynamicssum of squares

Mathematics Subject Classification ID

Agent technology and artificial intelligence (68T42) Large-scale systems (93A15) Nonlinear systems in control theory (93C10)

Abstract: Drawing inspiration from the theory of linear "decomposable systems", we provide a method, based on linear matrix inequalities (LMIs), which makes it possible to prove the convergence (or consensus) of a set of interacting agents with polynomial dynamic. We also show that the use of a generalised version of the famous Kalman-Yakubovic-Popov lemma allows the development of an LMI test whose size does not depend on the number of agents. The method is validated experimentally on two academic examples.

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