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Consensus in Directed Networks of Agents With Nonlinear Dynamics

机译:具有非线性动力学的智能体有向网络中的共识

摘要

This technical note studies the consensus problem for cooperative agents with nonlinear dynamics in a directed network. Both local and global consensus are defined and investigated. Techniques for studying the synchronization in such complex networks are exploited to establish various sufficient conditions for reaching consensus. The local consensus problem is first studied via a combination of the tools of complex analysis, local consensus manifold approach, and Lyapunov methods. A generalized algebraic connectivity is then proposed to study the global consensus problem in strongly connected networks and also in a broad class of networks containing spanning trees, for which ideas from algebraic graph theory, matrix theory, and Lyapunov methods are utilized.
机译:本技术说明研究有向网络中具有非线性动力学的合作主体的共识问题。地方和全球共识均已定义和调查。利用研究这种复杂网络中的同步的技术来建立各种足够的条件以达成共识。首先通过复杂分析工具,局部共识流形方法和Lyapunov方法的组合研究局部共识问题。然后提出了广义的代数连通性,以研究强连接网络以及包含生成树的广泛网络中的全局共识问题,为此,他们利用了代数图论,矩阵论和Lyapunov方法的思想。

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