Consensus condition for linear multi-agent systems over randomly switching topologies

被引：259
作者：
You, Keyou [1 ]
Li, Zhongkui [2 ,3 ]
Xie, Lihua [3 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] Peking Univ, Coll Engn, Dept Mech & Aerosp Engn, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China
[3] Nanyang Technol Univ, Sch Elect & Elect Engn, Ctr E City, EXQUISITUS, Singapore 639798, Singapore
来源：
AUTOMATICA | 2013年 / 49卷 / 10期
基金：
中国国家自然科学基金;
关键词：
Network topology; Consensus; Riccati inequality; Consensus gain; Markov process; Link failure; SUFFICIENT CONDITIONS; NETWORKS; AGENTS;
D O I：
10.1016/j.automatica.2013.07.024
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper studies both continuous and discrete time consensus problems for multi-agent systems with linear time-invariant agent dynamics over randomly switching topologies. The switching is governed by a time-homogeneous Markov process, whose state corresponds to a possible interaction topology among agents. Necessary and sufficient conditions are derived for achieving consensus under a common control protocol, respectively. It is shown that the effect of switching topologies on consensus is determined by the union of topologies associated with the positive recurrent states of the Markov process. Moreover, the effect of random link failures on discrete time consensus is investigated. The implications and relationships with the existing results are discussed. Finally, the theoretical results are validated via simulations. (C) 2013 Elsevier Ltd. All rights reserved.
引用
收藏
页码：3125 / 3132
页数：8
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