Title :
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
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;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6160957
