Reaching a Consensus in Multi-Agent Systems: A Time Invariant Nonlinear Rule

Abstract

Multi-Agent Systems (MAS) have attracted more and more interest in recent years. Most researches in the study of discrete-time MAS, presented in the past few years, have considered linear cooperative rules. However, local interactions between agents are more likely to be governed by nonlinear rules. In this paper, we investigate the consensus of discrete-time MAS with time invariant nonlinear cooperative rules. Based on our presented nonlinear model, we show a consensus in the discrete-time MAS. Our model generalizes a classical time invariant De Groot model. It seems that, unlike a linear case, a consensus can be easily achieved a nonlinear case.