Reference : Consensus on Nonlinear Spaces
Scientific congresses and symposiums : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
Consensus on Nonlinear Spaces
Sepulchre, Rodolphe mailto [Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems
8th IFAC Symposium on Nonlinear Control Systems
du 01 au 03 septembre 2010
[en] Consensus problems have attracted significant attention in the control community
over the last decade. They act as a rich source of new mathematical problems pertaining to
the growing field of cooperative and distributed control. This paper is an introduction to
consensus problems whose underlying state-space is not a linear space, but instead a highly
symmetric nonlinear space such as the circle and other relevant generalizations. A geometric
approach is shown to highlight the connection between several fundamental models of consensus,
synchronization, and coordination, to raise significant global convergence issues not present in
linear models, and to be relevant for a number of engineering applications, including the design
of planar or spatial coordinated motions.

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