Datar, AdwaitAdwaitDatarHespe, ChristianChristianHespeWerner, HerbertHerbertWerner2024-11-282024-11-282024IEEE Transactions on Automatic Control (in Press): (2024)https://hdl.handle.net/11420/52178We study cooperative control dynamics with gradient based forcing terms. As a specific example, we focus on source-seeking dynamics with vehicles embedded in an unknown scalar field with a subset of agents having gradient information. We consider time-invariant and uncertain interaction potentials common in formation control and flocking. We leverage the framework of α -integral quadratic constraints to obtain convergence rate estimates whenever exponential stability can be achieved. Sufficient conditions take the form of linear matrix inequalities independent of the size of network. A derivation (purely in time-domain) of the so-called hard Zames-Falb α -IQCs involving general non-causal higher order multipliers is given along with a suitably adapted parameterization of the multipliers to the α -IQC setting. Numerical examples illustrate the application of theoretical results.en1558-25232024IEEEcooperative control | Costs | Formation control | Heuristic algorithms | linear matrix inequalities | Optimization | robust control | Trajectory | Vectors | Vehicle dynamicsComputer Science, Information and General Works::004: Computer SciencesNatural Sciences and Mathematics::510: MathematicsJournal Article10.1109/TAC.2024.3440840Journal Article