Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual PositivityShow others and affiliations
2023 (English)In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 68, no 9, p. 5429-5444Article in journal (Refereed) Published
Abstract [en]
Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus.
Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE) , 2023. Vol. 68, no 9, p. 5429-5444
Keywords [en]
Consensus, multi-Agent systems, network dynamics, signed graphs, time-varying systems
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-349655DOI: 10.1109/TAC.2022.3225472Scopus ID: 2-s2.0-85144013111OAI: oai:DiVA.org:kth-349655DiVA, id: diva2:1881137
Note
QC 20240702
2024-07-022024-07-022024-07-02Bibliographically approved