Dynamic Consensus for Mobile Networks

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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.