Convergence and State Reconstruction of Time-Varying Multi-Agent Systems From Complete Observability Theory

DOI10.1109/TAC.2016.2599274zbMATH Open1366.93455arXiv1512.06244OpenAlexW2963079371MaRDI QIDQ5280435FDOQ5280435

Authors: Jochen Trumpf, Brian D. O. Anderson, Guodong Shi 

Publication date: 27 July 2017

Published in: IEEE Transactions on Automatic Control (Search for Journal in Brave)

Abstract: We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of complete observability. The proof is remarkably simple compared to similar results in the literature and the conditions for consensus are mild. This observability-based method can also be applied to the case where negatively weighted edges are present. Additionally, as a by-product of the observability based arguments, we show that the nodes' initial value can be recovered from the signals on the edges up to a shift of the network average.

Full work available at URL: https://arxiv.org/abs/1512.06244

Mathematics Subject Classification ID

Asymptotic properties of solutions to ordinary differential equations (34D05) Control problems involving ordinary differential equations (34H05) Robust stability (93D09)

Cited In (6)

• Convergence of a class of multi-agent systems in probabilistic framework
• Consensus of networked double integrator systems under sensor bias
• Adaptive sliding mode control for uncertain nonlinear multi-agent tracking systems subject to node failures
• Dynamics over signed networks
• Cluster consensus on matrix-weighted switching networks
• Semi-global asymptotic state agreement of nonlinear multi-agent systems with communication delays under directed switching topologies

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