Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
| Veröffentlicht: |
2024
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| _version_ | 1866914999614570496 |
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| author | Andrieu, Vincent Astolfi, Daniele Cellier-Devaux, Alexandre |
| author_facet | Andrieu, Vincent Astolfi, Daniele Cellier-Devaux, Alexandre |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_23700 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs Andrieu, Vincent Astolfi, Daniele Cellier-Devaux, Alexandre Optimization and Control 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. |
| title | Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2410.23700 |