Agreement Problems in Networks with Directed Graphs and Switching Toplogy

Reza Olfati Saber and Richard M. Murray
2003 Conference on Decision and Control (CDC)

In this paper, we provide tools for convergence and performance analysis of an agreement protocol for a network of integrator agents with directed information flow. We also analyze algorithmic robustness of this consensus protocol for networks with mobile nodes and switching topology. A connection is established between the Fiedler eigenvalue of the graph Laplacian and the performance of this agreement protocol. We demon- strate that a class of directed graphs, called balanced graphs, have a crucial role in solving average-consensus problems. Based on the properties of balanced graphs, a group disagreement function (i.e. Lyapunov function) is proposed for convergence analysis of this agreement protocol for networks with directed graphs and switching topology.

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