Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 64, Issue 4, Pages 1389-1402Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2863203
Keywords
Decentralized control; multi-agent systems
Funding
- Vannevar Bush Fellowship from the Office of Secretary of Defense
- NSF CMMI award [1740452]
- Air Force [FA990-15-10394]
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We study the performance of discrete-time consensus protocols in the presence of additive noise. When the consensus dynamic corresponds to a reversible Markov chain, we give an exact expression for a weighted version of steady-state disagreement in terms of the stationary distribution and hitting times in an underlying graph. We then show how this result can be used to characterize the noise robustness of a class of protocols for formation control in terms of the Kemeny constant of an underlying graph.
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