Consensus of Heterogeneous Multi-Agent Systems With Diffusive Couplings via Passivity Indices

This letter is concerned with the problem of output consensus for two classes of heterogeneous nonlinear multi-agent systems which are interconnected via diffusive couplings over directed graphs. Specifically, for agents that are input feed forward passive (IFP), a condition in terms of passivity indices is proposed for asymptotic output consensus. Moreover, it is shown that the proposed condition can be exploited to design the coupling gain that ensures asymptotic consensus via a semi definite program, and the existence of such a coupling gain can be guaranteed provided all the agents are IFP. For agents that are input feed forward output feedback passive, a condition in terms of passivity indices for practical output consensus is provided, in which the relationship between the coupling gain and the consensus error bound is revealed

Distributed Resource Allocation over Time-varying Balanced Digraphs with Discrete-time Communication

This work is concerned with the problem of distributed resource allocation in continuous-time setting but with discrete-time communication over infinitely jointly connected and balanced digraphs. We provide a passivity-based perspective for the continuous-time algorithm, based on which an intermittent communication scheme is developed. Particularly, a periodic communication scheme is first derived through analyzing the passivity degradation over output sampling of the distributed dynamics at each node. Then, an asynchronous distributed event-triggered scheme is further developed. The sampled-based event-triggered communication scheme is exempt from Zeno behavior as the minimum inter-event time is lower bounded by the sampling period. The parameters in the proposed algorithm rely only on local information of each individual node, which can be designed in a truly distributed fashion