Dynamic Consensus for Mobile Networks
Demetri P. Spanos, Reza Olfati-Saber, Richard M. Murray
2005 IFAC World Congress
This work examines several dynamical aspects of average consensus
in mobile networks. The results herein allow consensus on general
time-varying signals, and allow tracking analysis using standard
frequency-domain techniques. Further, the frequency-domain
analysis naturally inspires a robust small-gain version of the
algorithm, which tolerates arbitrary non-uniform time delays.
Finally, we show how to exploit a dynamical conservation property
in order to ensure consensus tracking despite splitting and
merging of the underlying mobile network.
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