Consensus analysis of large-scale nonlinear homogeneous multi-agent formations with polynomial dynamics
Systems and Control
2016-12-06 v1
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.
Cite
@article{arxiv.1612.01375,
title = {Consensus analysis of large-scale nonlinear homogeneous multi-agent formations with polynomial dynamics},
author = {Paolo Massioni and Gérard Scorletti},
journal= {arXiv preprint arXiv:1612.01375},
year = {2016}
}
Comments
6 pages, 5 figures