Agreement Problems in Networks with Directed Graphs and Switching Topology

Olfati-Saber, Dr. Reza and Murray, Professor Richard M. (2003) Agreement Problems in Networks with Directed Graphs and Switching Topology. Technical Report. California Institute of Technology. [CaltechCDSTR:2003.005]

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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 effectiveness of the proposed analytical tools.

EPrint Type:	Monograph (Technical Report)
Additional Information:	[Alternate URL: http://www.cds.caltech.edu/~olfati/papers/cdc03/cdstr-ros-03-005.pdf]
Subjects:	All Records
ID Code:	32
Deposited By:	Dr. Reza Olfati-Saber
Deposited On:	08 September 2003
Unique Identifier:	CaltechCDSTR:2003.005
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:2003.005
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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