Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs
Optimization and Control
2024-11-01 v1
Abstract
In this note we investigate the problem of global exponential synchronization of multi-agent systems described by nonlinear input affine dynamics. We consider the case of networks described by undirected connected graphs possibly without leader. We present a set of sufficient conditions based on a Riemannian metric approach in order to design a state-feedback distributed control law. Then, we study the convergence properties of the overall network. By exploiting the properties of the edge Laplacian we construct a Lyapunov function that allows to conclude global exponential synchronization of the overall network.
Keywords
Cite
@article{arxiv.2410.23700,
title = {Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs},
author = {Vincent Andrieu and Daniele Astolfi and Alexandre Cellier-Devaux},
journal= {arXiv preprint arXiv:2410.23700},
year = {2024}
}
Comments
Automatica, In press