Reaching a consensus in a dynamically changing environment: Convergence rates, measurement delays, and asynchronous events

被引：231
作者：
Cao, Ming [1 ]
Morse, A. Stephen [1 ]
Anderson, Brian D. O. [2 ,3 ]
机构：
[1] Yale Univ, New Haven, CT 06520 USA
[2] Australian Natl Univ, Canberra, ACT 2601, Australia
[3] Natl ICT Australian Ltd, Canberra, ACT 2601, Australia
来源：
SIAM JOURNAL ON CONTROL AND OPTIMIZATION | 2008年 / 47卷 / 02期
关键词：
cooperative control; graph theory; switched systems; convergence rates; delays asynchronism;
D O I：
10.1137/060657029
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 uses recently established properties of compositions of directed graphs together with results from the theory of nonhomogeneous Markov chains to derive worst case convergence rates for the headings of a group of mobile autonomous agents which arise in connection with the widely studied Vicsek consensus problem. The paper also uses graph-theoretic constructions to solve modified versions of the Vicsek problem in which there are measurement delays, asynchronous events, or a group leader. In all three cases the conditions under which consensus is achieved prove to be almost the same as the conditions under which consensus is achieved in the synchronous, delay-free, leaderless case.
引用
收藏
页码：601 / 623
页数：23
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