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Reaching a consensus via pinning control. (English) Zbl 1162.93305
Summary: The consensus problem in a multi-agent system with general nonlinear coupling is investigated in this paper. It is demonstrated that, under suitable conditions on communication, all agents approach a prescribed value if a small fraction of them are controlled by simple feedback control. The stability analysis is based on a blend of graph-theoretic and system-theoretic tools where the contraction analysis and multiple Lyapunov functions play central roles. Numerous numerical examples, which support the analytical results very well, are also included.
MSC:
93A14Decentralized systems
93B52Feedback control
93C85Automated control systems (robots, etc.)
93D30Scalar and vector Lyapunov functions