Consensus of Heterogeneous Nonlinear Multiagent Systems With Duplex Control Laws

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

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Original languageEnglish
Article number8695119
Pages (from-to)5140-5147
Journal / PublicationIEEE Transactions on Automatic Control
Issue number12
Online published22 Apr 2019
Publication statusPublished - Dec 2019


This note addresses the consensus of heterogeneous nonlinear multiagent systems with duplex control laws including the integral control law and the proportional control law. Sufficient conditions are derived to ascertain the consensus of multiagent systems under directed communication graphs. It is shown herein that the connectivity of the communication graph underlying the integral control law is more important than that of proportional one for consensus and that the graph underlying the proportional control law does not need to be connected. It is also shown that the heterogeneous nonlinear multiagent systems are applicable for distributed optimization. In particular, simulation results on the nonlinear multiagent system for distributed parameter estimation in a wireless sensor network are provided to substantiate the theoretical results.

Research Area(s)

  • Multi-agent systems, Optimization, Nonlinear dynamical systems, Synchronization, Proportional control, Decentralized control, Consensus, distributed optimization, duplex control law, heterogeneous nonlinear multiagent systems, COMPLEX NETWORKS, ALGORITHMS