Abstract
This paper discusses the problem of consensus for multi-agent systems and convergence analysis. The decentralized consensus control strategy is implemented based on artificial potential functions (APF). Due to the existence of local minima in the APF, some special functions are introduced to settle that limitation. A convergence of consensus protocol is defined to investigate the consensus problem and based on Lyapunov approach sufficient conditions for this convergence principle are established. The main contribution of this paper is to provide a valid decentralized consensus algorithm that overcomes the difficulties caused by nonlinearity and switching coupling topology, and therefore has its obvious practical applications. Finally, simulation results are included.
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