Agreement Problems in Networks with Directed Graphs and Switching Topology

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. Moreover, we analyze algorithmic robustness of this consensus protocol for the case of a network with mobile nodes and switching topology. We establish a connection between the Fiedler eigenvalue of the graph Laplacian and the performance of this agreement protocol. We demostrate 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. This group disagreement function is later used for convergence analysis for the agreement problem in networks with switching topology. We provide simulation results that are consistent with our theoretical results and demonstrate the e ectiveness of the proposed analytical tools.

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Document Details

Document Type
Technical Report
Publication Date
Feb 15, 2003
Accession Number
ADA465113

Entities

People

  • Reza O. Saber
  • Richard M. Murray

Organizations

  • California Institute of Technology

Tags

Communities of Interest

  • Human Systems
  • Space

DTIC Thesaurus Topics

  • Agreements
  • Aircrafts
  • Eigenvalues
  • Eigenvectors
  • Equations
  • Graph Theory
  • Hybrid Systems
  • Linear Systems
  • Lyapunov Functions
  • Matrix Theory
  • Mobile Phones
  • Multiagent Systems
  • Simulations
  • Switching
  • Topology
  • Trajectories
  • Unmanned Aerial Vehicles

Fields of Study

  • Computer science

Readers

  • Computer Networking
  • Graph Algorithms and Convex Optimization.
  • Regression Analysis.