740 research outputs found
Persistence based analysis of consensus protocols for dynamic graph networks
This article deals with the consensus problem involving agents with
time-varying singularities in the dynamics or communication in undirected graph
networks. Existing results provide control laws which guarantee asymptotic
consensus. These results are based on the analysis of a system switching
between piecewise constant and time-invariant dynamics. This work introduces a
new analysis technique relying upon classical notions of persistence of
excitation to study the convergence properties of the time-varying multi-agent
dynamics. Since the individual edge weights pass through singularities and vary
with time, the closed-loop dynamics consists of a non-autonomous linear system.
Instead of simplifying to a piecewise continuous switched system as in
literature, smooth variations in edge weights are allowed, albeit assuming an
underlying persistence condition which characterizes sufficient inter-agent
communication to reach consensus. The consensus task is converted to
edge-agreement in order to study a stabilization problem to which classical
persistence based results apply. The new technique allows precise computation
of the rate of convergence to the consensus value.Comment: This article contains 7 pages and includes 4 figures. it is accepted
in 13th European Control Conferenc
Detecting Topology Variations in Dynamical Networks
This paper considers the problem of detecting topology variations in
dynamical networks. We consider a network whose behavior can be represented via
a linear dynamical system. The problem of interest is then that of finding
conditions under which it is possible to detect node or link disconnections
from prior knowledge of the nominal network behavior and on-line measurements.
The considered approach makes use of analysis tools from switching systems
theory. A number of results are presented along with examples
Coordination of passive systems under quantized measurements
In this paper we investigate a passivity approach to collective coordination
and synchronization problems in the presence of quantized measurements and show
that coordination tasks can be achieved in a practical sense for a large class
of passive systems.Comment: 40 pages, 1 figure, submitted to journal, second round of revie
Output consensus of nonlinear multi-agent systems with unknown control directions
In this paper, we consider an output consensus problem for a general class of
nonlinear multi-agent systems without a prior knowledge of the agents' control
directions. Two distributed Nussbaumtype control laws are proposed to solve the
leaderless and leader-following adaptive consensus for heterogeneous multiple
agents. Examples and simulations are given to verify their effectivenessComment: 10 pages;2 figure
Dynamics over Signed Networks
A signed network is a network with each link associated with a positive or
negative sign. Models for nodes interacting over such signed networks, where
two different types of interactions take place along the positive and negative
links, respectively, arise from various biological, social, political, and
economic systems. As modifications to the conventional DeGroot dynamics for
positive links, two basic types of negative interactions along negative links,
namely the opposing rule and the repelling rule, have been proposed and studied
in the literature. This paper reviews a few fundamental convergence results for
such dynamics over deterministic or random signed networks under a unified
algebraic-graphical method. We show that a systematic tool of studying node
state evolution over signed networks can be obtained utilizing generalized
Perron-Frobenius theory, graph theory, and elementary algebraic recursions.Comment: In press, SIAM Revie
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