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Robust Consensus For Continuous-Time Multiagent Dynamics
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2013 (English)In: SIAM Journal of Control and Optimization, ISSN 0363-0129, E-ISSN 1095-7138, Vol. 51, no 5, 3673-3691 p.Article in journal (Refereed) Published
Abstract [en]

This paper investigates consensus problems for continuous-time multiagent systems with time-varying communication graphs subject to input noise. Based on input-to-state stability and integral input-to-state stability, robust consensus and integral robust consensus are defined with respect to L-infinity and L-1 norms of the noise function, respectively. Sufficient and/or necessary connectivity conditions are obtained for the system to reach robust consensus or integral robust consensus under mild assumptions. The results answer the question on how much interaction is required for a multiagent network to converge despite a certain amount of input disturbance. The epsilon-convergence time is obtained for the consensus computation on directed and K-bidirectional graphs.

Place, publisher, year, edition, pages
2013. Vol. 51, no 5, 3673-3691 p.
Keyword [en]
multiagent systems, robust consensus, time-varying graphs, convergence rates
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-134772DOI: 10.1137/110841308ISI: 000326384700013Scopus ID: 2-s2.0-84890465452OAI: oai:DiVA.org:kth-134772DiVA: diva2:667879
Funder
Knut and Alice Wallenberg FoundationSwedish Research Council
Note

QC 20131128

Available from: 2013-11-28 Created: 2013-11-28 Last updated: 2017-12-06Bibliographically approved

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Johansson, Karl Henrik

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