July 17, 2025
Our latest paper was accepted by the 2025 Conference on Desion and Control.
Title: A Passivity Analysis for Nonlinear Consensus on Digraphs
Abstract: This work presents a passivity-based analysis for the nonlinear output agreement problem in network systems over directed graphs. We reformulate the problem as a convergence analysis on the agreement submanifold. First, we establish how passivity properties of individual agents and controllers determine the passivity of their associated system relations. Building on this, we introduce the concept of submanifold-constrained passivity and develop a novel compensation theorem that ensures output convergence to the agreement submanifold. Unlike previous approaches, our approach can analyze the network system with arbitrary digraphs and any passive agents. We apply this framework to analyze the output agreement problem for network systems consisting of nonlinear and passive agents. Numerical examples support our results.