Title :
Consensus of multi-agent systems with unbalanced topology
Author :
Sun Wen ; Lu Jinhu ; Chen Shihua ; Yu Xinghuo
Author_Institution :
Key Lab. of Syst. & Control, Acad. of Math. & Syst. Sci., Beijing, China
Abstract :
Multi-agent systems with balanced topology have been considered intensively in the existing literature. This paper studies consensus of multi-agent systems with unbalanced topology. Two consensus protocols are proposed to solve consensus problems. A novel disagreement function is presented for convergence analysis of consensus protocols. Sufficient conditions for consensus of multi-agent systems are established in both cases. An important finding is that the spanning directed tree plays a key role in addressing consensus. The jointly spanning directed tree is introduced for convergence analysis of multi-agent systems with switching topologies. Simulations are given for illustration the effectiveness of the proposed consensus protocols.
Keywords :
directed graphs; multi-agent systems; trees (mathematics); convergence analysis; disagreement function; multiagent system consensus protocols; spanning directed tree; sufficient condition; switching topology; unbalanced topology; Educational institutions; Eigenvalues and eigenfunctions; Multi-agent systems; Network topology; Protocols; Switches; Topology; Consensus; jointly spanning directed tree; switching; unbalanced topology;
Conference_Titel :
Control Conference (CCC), 2013 32nd Chinese
Conference_Location :
Xi´an
