Persistence based analysis of consensus protocols for dynamic graph networks
| Autor: | Chowdhury, Nilanjan Roy, Sukumar, Srikant |
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| Rok vydání: | 2014 |
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| Druh dokumentu: | Working Paper |
| Popis: | This article deals with the consensus problem involving agents with time-varying singularities in the dynamics or communication in undirected graph networks. Existing results provide control laws which guarantee asymptotic consensus. These results are based on the analysis of a system switching between piecewise constant and time-invariant dynamics. This work introduces a new analysis technique relying upon classical notions of persistence of excitation to study the convergence properties of the time-varying multi-agent dynamics. Since the individual edge weights pass through singularities and vary with time, the closed-loop dynamics consists of a non-autonomous linear system. Instead of simplifying to a piecewise continuous switched system as in literature, smooth variations in edge weights are allowed, albeit assuming an underlying persistence condition which characterizes sufficient inter-agent communication to reach consensus. The consensus task is converted to edge-agreement in order to study a stabilization problem to which classical persistence based results apply. The new technique allows precise computation of the rate of convergence to the consensus value. Comment: This article contains 7 pages and includes 4 figures. it is accepted in 13th European Control Conference |
| Databáze: | arXiv |
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