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arXiv · 2504.07226

Compositional design for time-varying and nonlinear coordination

Jonas Hansson·Emma Tegling
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Abstract

This work addresses the design of multi-agent coordination through high-order consensus protocols. While first-order consensus strategies are well-studied -- with known robustness to uncertainties such as time delays, time-varying weights, and nonlinearities like saturations -- the theoretical guarantees for high-order consensus are comparatively limited. We propose a compositional control framework that generates high-order consensus protocols by serially connecting stable first-order consensus operators. Under mild assumptions, we establish that the resulting high-order system inherits stability properties from its components. The proposed design is versatile and supports a wide range of real-world constraints. This is demonstrated through applications inspired by vehicular formation control, including protocols with time-varying weights, bounded time-varying delays, and saturated inputs. We derive theoretical guarantees for these settings using the proposed compositional approach and demonstrate the advantages gained compared to conventional protocols in simulations.

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Jonas Hansson, Emma Tegling. 2025-04-09. Compositional design for time-varying and nonlinear coordination. https://arxiv.org/abs/2504.07226

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