Multi-agent robust consensus-Part I: Convergence analysis

Author

Shi, Guodong ; Johansson, Karl Henrik

Author_Institution

ACCESS Linnaeus Centre, R. Inst. of Technol., Stockholm, Sweden

fYear

2011

fDate

12-15 Dec. 2011

Firstpage

5744

Lastpage

5749

Abstract

This part of the paper investigates a robust consensus problem for continuous-time multi-agent systems with time-varying communication graphs and weight functions. Convergence rates are presented explicitly with respect to L_∞ and L₁ norms of disturbances. Sufficient and/or necessary connectivity conditions are obtained for the system to reach robust consensus or integral robust consensus.

Keywords

continuous time systems; convergence; distributed control; graph theory; interconnected systems; multi-robot systems; nonlinear systems; stability; state feedback; time-varying systems; continuous-time multiagent system; convergence analysis; convergence rates; distributed control; disturbance L_∞ norm; disturbance L₁ norm; integral robust consensus; multiagent robust consensus problem; necessary connectivity condition; nonlinear systems; state feedback; sufficient connectivity condition; time-varying communication graph; time-varying interconnection graph; uniformly joint connected graphs; weight function; Convergence; Estimation; Joints; Multiagent systems; Noise; Robustness; Switches; Convergence rate; Joint connection; Multi-agent systems; Robust consensus;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on

Conference_Location

Orlando, FL

ISSN

0743-1546

Print_ISBN

978-1-61284-800-6

Electronic_ISBN

0743-1546

Type

conf

DOI

10.1109/CDC.2011.6160957

Filename

6160957