Nonlinear consensus protocols for multi-agent systems based on centre manifold reduction

Nonlinear consensus protocols for dynamic directed networks ofmulti-agent systems with fixed and switching topologies areinvestigated separately in this paper. Based on the centre manifoldreduction technique, nonlinear consensus protocols are presented. Weprove that a group of agents can reach a $beta$-consensus, thevalue of which is the group decision value varying from the minimum andthe maximum values of the initial states of the agents. Moreover, wederive the conditions to guarantee that all the agents reach a$beta$--consensus on a desired group decision value. Finally, asimulation study concerning the vertical alignment manoeuvere of ateam of unmanned air vehicles is performed. Simulation results showthat the nonlinear consensus protocols proposed are more effective thanthe linear protocols for the formation control of the agents andthey are an improvement over existing protocols.