NDLI: Continuous-Time Consensus under Persistent Connectivity and Slow Divergence of Reciprocal Interaction Weights

Content Provider	Society for Industrial and Applied Mathematics (SIAM)
Author	Martin, Samuel Girard, Antoine
Copyright Year	2013
Abstract	In this paper, we present new results on consensus for continuous-time multiagent systems. We introduce the assumptions of persistent connectivity of the interaction graph and of slow divergence of reciprocal interaction weights. Persistent connectivity can be considered as the counterpart of the notion of ultimate connectivity used in discrete-time consensus protocols. Slow divergence of reciprocal interaction weights generalizes the assumption of cut-balanced interactions. We show that under these two assumptions, the continuous-time consensus protocol succeeds: the states of all the agents converge asymptotically to a common value. Moreover, our proof allows us to give an estimate of the rate of convergence towards the consensus. We also provide examples that make us think that both of our assumptions are tight.
Starting Page	2568
Ending Page	2584
Page Count	17
File Format	PDF
ISSN	03630129
DOI	10.1137/11083438X
e-ISSN	10957138
Issue Number	3
Volume Number	51
Language	English
Publisher	Society for Industrial and Applied Mathematics
Publisher Date	2013-06-25
Access Restriction	Subscribed
Subject Keyword	digraph continuous time systems concensus Lyapunov multiagent systems
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Applied Mathematics

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