Paper Info
Title
Consensus problems in networks of agents with switching topology and time-delays.
Abstract
In this paper, we discuss consensus problems for a network of dynamic agents with flxed and switching topologies. We analyze three cases: i) networks with switching topology and no time-delays, ii) networks with flxed topology and communication time-delays, and iii) max-consensus problems (or leader determination) for groups of discrete-time agents. In each case, we introduce a linear/nonlinear consensus protocol and provide convergence analysis for the proposed distributed algorithm. Moreover, we establish a connection between the Fiedler eigenvalue of the information ∞ow in a network (i.e. algebraic connectivity of the network) and the negotiation speed (or performance) of the corresponding agreement protocol. It turns out that balanced digraphs play an important role in addressing average-consensus problems. We intro- duce disagreement functions that play the role of Lyapunov functions in convergence analysis of consensus protocols. A distinctive feature of this work is to address consen- sus problems for networks with directed information ∞ow. We provide analytical tools that rely on algebraic graph theory, matrix theory, and control theory. Simulations are provided that demonstrate the efiectiveness of our theoretical results.
Year
DOI
Venue
2004
10.1109/TAC.2004.834113
IEEE Trans. Automat. Contr.
Keywords
Field
DocType
Intelligent networks,Network topology,Vehicle dynamics,Communication switching,Protocols,Control systems,Convergence,Laplace equations,Automatic control,Communication system control
Graph theory,Consensus,Topology,Control theory,Network topology,Algebraic connectivity,Uniform consensus,Algebraic graph theory,Connectivity,Mathematics,Consensus dynamics
Journal
Volume
Issue
ISSN
49
9
0018-9286
Citations 
PageRank 
References 
3393
239.47
13
Authors
2
Search Limit
1001000
Name
Order
Citations
PageRank
Reza Olfati-Saber18066549.43
Richard M. Murray2123221223.70