Technical Briefs

Consensus Analysis and Formation Control of Second-Order Multiagent Systems Via Nonlinear Protocol

[+] Author and Article Information
Huan Pan

School of Physics Electrical Information Engineering,
Ningxia University,
Yinchuan 750021, China
e-mail: pan198303@gmail.com

Xiaohong Nian

e-mail: xhnian@mail.csu.edu.cn

Ling Guo

School of Information Science and Engineering,
Central South University,
Changsha 410075, China

Contributed by the Design Engineering Division of ASME for publication in the Journal of Computational and Nonlinear Dynamics. Manuscript received April 30, 2012; final manuscript received December 9, 2012; published online February 7, 2013. Assoc. Editor: Eric A. Butcher.

J. Comput. Nonlinear Dynam 8(3), 034502 (Feb 07, 2013) (5 pages) Paper No: CND-12-1064; doi: 10.1115/1.4023353 History: Received April 30, 2012; Revised December 19, 2012

This paper mainly investigates consensus and formation control of second-order multiagent system with undirected communication graph. A nonlinear protocol is proposed as an extension of general linear protocols that have been widely studied. In order to achieve formation control, a formation control strategy corresponding to the nonlinear protocol is designed too. The sufficient conditions of consensus and formation are derived based on LaSalle's invariance principle. Simulation examples are provided to illustrate that the second-order multiagent with the nonlinear protocol can achieve consensus and formation.

Copyright © 2013 by ASME
Your Session has timed out. Please sign back in to continue.


Bauso, D., Giarré, L., and Pesenti, R., 2006, “Non-Linear Protocols for Optimal Distributed Consensus in Networks of Dynamic Agents,” Sys. Contr. Lett., 55(11), pp. 918–928. [CrossRef]
Xiao, F., Wang, L., and Jia, Y. M., 2008, “Fast Information Sharing in Networks of Autonomous Agents,” American Control Conference, pp. 4388–4393.
Olfati-Saber, R., and Murry, M., 2004, “Consensus Problems in Networks of Agents With Switching Topology and Time-Delays,” IEEE Trans. Auto. Cont., 49(9), pp. 1520–1533. [CrossRef]
Liu, X. W., Chen, T. P., and Lu, W. L., 2009, “Consensus Problem in Directed Networks of Multi-Agents Via Nonlinear Protocols,” Phys. Lett. A, 373(35), pp. 3122–3127. [CrossRef]
Qing, H., and Wassim, M. H., 2008, “Distributed Nonlinear Control Algorithms for Network Consensus,” Automatica, 44(9), pp. 2375–2381. [CrossRef]
Shang, Y. L., 2012, “Finite-Time Consensus for Multi-Agent Systems With Fixed Topologies,” International Journal of Systems Science, 43(3), pp. 499–506.
Shang, Y. L., 2009, “On consensus of Nonlinear Multi-Agent Systems Under Directed Interaction Topologies,” International Conference on Cyber-Enabled Distributed Computing and Knowledge Discovery, pp. 128–131.
Li, Y. M., and Guan, X. P., 2009, “Nonlinear Consensus Protocols for Multi-Agent Systems Based on Centre Manifold Reduction,” Chin. Phys. B, 18(8), pp. 3355–3366. [CrossRef]
Shi, G. D., and Hong, Y. G., 2009, “Global Target Aggregation and State Agreement of Nonlinear Multi-Agent Systems With Switching Topologies,” Automatica, 45(5), pp. 1165–1175. [CrossRef]
Sepulchre, R., 2011, “Consensus on Nonlinear Spaces,” Ann. Rev. Contr., 35(1), pp. 56–64. [CrossRef]
Yu, W. W., Chen, G. R., Cao, M., and Kurths, J., 2010, “Second-Order Consensus for Multiagent Systems With Directed Topologies and Nonlinear Dynamics,” IEEE Trans. Sys. Man Cyber. B, 40(3), pp. 881–891. [CrossRef]
Song, Q., Cao, J. D., and Yu, W. W., 2010, “Second-Order Leader-Following Consensus of Nonlinear Multi-Agent Systems via Pinning Control,” Sys. Contr. Lett., 59(9), pp. 553–562. [CrossRef]
Ren, W., 2008, “On Consensus Algorithms for Double-Integrator Dynamics,” IEEE Trans. Auto. Contr., 53(6), pp. 1503–1509. [CrossRef]
Ren, W., 2007, “Consensus Strategies for Cooperative of Vehicle Formations,” IET Cont. Theory Appl., 1(2), pp. 505–512. [CrossRef]
Xue, D., Yao, J., Chen, G., and Yu, Y. L., 2010, “Formation Control of Networked Multi-Agent Systems,” IET Cont. Theory Appl., 4(10), pp. 2168–2176. [CrossRef]
Lin, P., and Jia, Y. M., 2010, “Distributed Rotating Formation Control of Multi-Agent Systems,” Sys. Contr. Lett., 59(10), pp. 587–595. [CrossRef]
Oh, K. K., and Ahn, H. S., 2011, “Formation Control of Mobile Agents Based on Inter-Agent Distance Dynamics,” Automatica, 47(10), pp. 2306–2312. [CrossRef]
Ren, W., and Atkins, E. M., 2007, “Distributed Multi-Vehicle Coordinated Control via Local Information Exchange,” Int. J. Robust Nonlinear Cont., 17(10–11), pp. 1002–1033. [CrossRef]
Yu, W. W., Chen, G. R., and Cao, M., 2010, “Some Necessary and Sufficient Conditions for Second-Order Consensus in Multi-Agent Dynamical Systems,” Automatica, 46(6), pp. 1089–1095. [CrossRef]


Grahic Jump Location
Fig. 1

Communication topology graph

Grahic Jump Location
Fig. 2

State consensus of second-order multiagent system

Grahic Jump Location
Fig. 3

Formation of second-order multiagent system




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In