LAUSR

In this paper, we investigate the asymptotic stability of nonlinear agents in a directed network using a nonlinear protocol. Inspired by the V-uniformly decreasing condition, we introduce a new condition to characterize the nonlinearity of the agents, and use it to design the distributed nonlinear control protocol for the agents. Under certain conditions, we construct proper Lyapunov function to show that the agents can achieve asymptotic stability via our nonlinear control protocol. Especially, if there exist agents that are asymptotically stable, then the multiagent network must be asymptotically stable as long as the control strengths of unstable agents are large enough. Finally, an example is given to illustrate the effectiveness of our theoretical results.