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arXiv · 2410.23700

Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs

Vincent Andrieu·Daniele Astolfi·Alexandre Cellier-Devaux
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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.

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Vincent Andrieu, Daniele Astolfi, Alexandre Cellier-Devaux. 2024-10-31. Edges' Riemannian energy analysis for synchronization of multi-agent nonlinear systems over undirected weighted graphs. https://doi.org/10.1016/j.automatica.2024.111950

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