A passivity analysis for nonlinear consensus on balanced digraphs

Feng-Yu Yue

doi:10.1016/j.ejcon.2025.101368

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A passivity analysis for nonlinear consensus on balanced digraphs

2025-09-03

Feng-Yu Yue *

Zelazo, Daniel

DOI：10.1016/j.ejcon.2025.101368

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Abstract

En 中文

This work deals with the output consensus problems for multi-agent systems over balanced digraphs. While passivity-based approaches are widely used for analyzing undirected consensus protocols, we show that they are generally not applicable to the directed linear consensus protocol. To address this limitation, we propose a general approach that enables a passivity-based analysis for network systems with directed couplings. Then, we mitigate the complexity introduced by nonlinearities and directed interconnections by reformulating the general output consensus problem as a convergence analysis on a submanifold. Within this framework, we further focus on the stabilization problem, a specific form of the output consensus problem, and establish a sufficient passivity-based condition for stabilizing multi-agent systems over balanced digraphs. The results are supported by a numerical example.

Keywords:

Multi-agent systems

Passivity

Output consensus

Stabilization

Nonlinear systems

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