This paper investigates agreement protocols over cooperative and cooperative-antagonistic multiagent networks with coupled continuous-time nonlinear dynamics. To guarantee convergence for such systems, it is common in the literature to assume that the vector field of each agent is pointing inside the convex hull formed by the states of the agent and its neighbors, given that the relative states between each agent and its neighbors are available. This convexity condition is relaxed in this paper, as we show that it is enough that the vector field belongs to a strict tangent cone based on a local supporting hyperrectangle. The new condition has the natural physical interpretation of requiring shared reference directions in addition to the available local relative states. Such shared reference directions can be further interpreted as if each agent holds a magnetic compass indicating the orientations of a global frame. It is proved that the cooperative multiagent system achieves exponential state agreement if...
['Ziyang Meng', 'Guodong Shi', 'Karl Henrik Johansson']
Multiagent Systems with Compasses