NDLI: Limits on the network sensitivity function for homogeneous multi-agent systems on a graph

Content Provider	IEEE Xplore Digital Library
Author	Tonetti, S. Murray, R.M.
Copyright Year	2010
Description	Author affiliation: Dept. of Aerosp. Eng., Politec. di Milano, Milan, Italy (Tonetti, S.) \|\| Dept. of Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA (Murray, R.M.)
Abstract	This paper explores some tradeoffs and limits of performance in feedback control of interconnected multi-agent systems, focused on the network sensitivity functions. We consider the interaction topology described by a directed graph and we prove that the sensitivity transfer functions between every pair of agents, arbitrarily connected, can be derived using a version of Mason's direct rule. An analysis of the role of cycles shows that these structures influence and considerably limit the behavior of the system. We also derive a networked version of Bode's integral formula, showing that it still holds for multi-agent systems.
Starting Page	3217
Ending Page	3222
File Size	871130
Page Count	6
File Format	PDF
ISBN	9781424474264
ISSN	07431619
e-ISBN	9781424474271
DOI	10.1109/ACC.2010.5530753
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-06-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Multiagent systems Control systems Distributed control Topology Graph theory Linear matrix inequalities Transfer functions Vehicle dynamics Unmanned aerial vehicles Laplace equations
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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