Agreement problems in networks with directed graphs and switching topology
- 23 April 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (01912216) , 4126-4132 vol.4
- https://doi.org/10.1109/cdc.2003.1271796
Abstract
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 demonstrate 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.Keywords
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