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Agreement Problems in Networks with Directed Graphs and Switching Toplogy
Abstract In this paper, we provide tools for conver …
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.
th directed graphs and switching topology.  +
Authors Reza Olfati Saber and Richard M. Murray  +
ID 2003c  +
Source 2003 Conference on Decision and Control (CDC)  +
Tag om03-cdc  +
Title Agreement Problems in Networks with Directed Graphs and Switching Toplogy +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:18:45  +
URL
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http://www.cds.caltech.edu/~murray/preprints/om03-cdc-1.pdf  +
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Agreement Problems in Networks with Directed Graphs and Switching Toplogy + Title
 

 

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