Accession Number:

ADA465113

Title:

Agreement Problems in Networks with Directed Graphs and Switching Topology

Descriptive Note:

Technical rept.

Corporate Author:

CALIFORNIA INST OF TECH PASADENA CONTROL AND DYNAMICAL SYSTEMS

Personal Author(s):

Report Date:

2003-02-15

Pagination or Media Count:

17.0

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.

Subject Categories:

  • Numerical Mathematics
  • Computer Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE