Multiagent Systems with Compasses

DOI10.1137/140982283zbMATH Open1327.93210arXiv1308.0813OpenAlexW2579091462MaRDI QIDQ2949986FDOQ2949986

Ziyang Meng, Guodong Shi, Karl Henrik Johansson

Publication date: 5 October 2015

Published in: SIAM Journal on Control and Optimization (Search for Journal in Brave)

Abstract: This paper investigates agreement protocols over cooperative and cooperative--antagonistic multi-agent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to assume that the vector field of each agent is pointing inside the convex hull formed by the states of the agent and its neighbors, given that the relative states between each agent and its neighbors are available. This convexity condition is relaxed in this paper, as we show that it is enough that the vector field belongs to a strict tangent cone based on a local supporting hyperrectangle. The new condition has the natural physical interpretation of requiring shared reference directions in addition to the available local relative states. Such shared reference directions can be further interpreted as if each agent holds a magnetic compass indicating the orientations of a global frame. It is proven that the cooperative multi-agent system achieves exponential state agreement if and only if the time-varying interaction graph is uniformly jointly quasi-strongly connected. Cooperative--antagonistic multi-agent systems are also considered. For these systems, the relation has a negative sign for arcs corresponding to antagonistic interactions. State agreement may not be achieved, but instead it is shown that all the agents' states asymptotically converge, and their limits agree componentwise in absolute values if and in general only if the time-varying interaction graph is uniformly jointly strongly connected.

Full work available at URL: https://arxiv.org/abs/1308.0813

zbMATH Keywords

nonlinear systemscooperative-antagonistic networkshared reference direction

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Asymptotic stability in control theory (93D20)

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Cited In (4)

• Rebels lead to the doctrine of the mean: a heterogeneous degroot model
• Dynamics over Signed Networks
• Spreading and Structural Balance on Signed Networks
• Finite-time median-related group consensus over directed networks

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