Robust Consensus For Continuous-Time Multiagent Dynamics
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
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.
multiagent systems, robust consensus, time-varying graphs, convergence rates
IdentifiersURN: urn:nbn:se:kth:diva-134772DOI: 10.1137/110841308ISI: 000326384700013ScopusID: 2-s2.0-84890465452OAI: oai:DiVA.org:kth-134772DiVA: diva2:667879
FunderKnut and Alice Wallenberg FoundationSwedish Research Council
QC 201311282013-11-282013-11-282013-11-28Bibliographically approved