Discrete-Time Matrix-Weighted Consensus
This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly different update rates and switching network topologies. A...
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| creator | Van Tran, Quoc Trinh, Minh Hoang Ahn, Hyo-Sung |
| description | This article investigates discrete-time matrix-weighted consensus of multi-agent networks over undirected and connected graphs. We first present consensus protocols for the agents in common networks of symmetric matrix weights with possibly different update rates and switching network topologies. A special type of matrix-weighted consensus with non-symmetric matrix-weights that can render several consensus control scenarios such as ones with scaled/rotated updates and affine motion constraints is also considered. We employ Lyapunov stability theory for discrete-time systems and occasionally utilize Lipschitz continuity of the gradient of the Lyapunov function to show the convergence to a consensus of the agents in the system. Finally, simulation results are provided to illustrate the theoretical results. |
| doi_str_mv | 10.48550/arxiv.2006.15530 |
| format | Article |
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| language | eng |
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| subjects | Discrete time systems Liapunov functions Mathematical analysis Mathematics - Optimization and Control Matrix methods Motion stability Multiagent systems Network topologies Protocol (computers) |
| title | Discrete-Time Matrix-Weighted Consensus |
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