Journal
SIAM JOURNAL ON CONTROL AND OPTIMIZATION
Volume 51, Issue 5, Pages 3673-3691Publisher
SIAM PUBLICATIONS
DOI: 10.1137/110841308
Keywords
multiagent systems; robust consensus; time-varying graphs; convergence rates
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Funding
- Knut and Alice Wallenberg Foundation
- Swedish Research Council
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This paper investigates consensus problems for continuous-time multiagent systems with time-varying communication graphs subject to input noise. Based on input-to-state stability and integral input-to-state stability, robust consensus and integral robust consensus are defined with respect to L-infinity and L-1 norms of the noise function, respectively. Sufficient and/or necessary connectivity conditions are obtained for the system to reach robust consensus or integral robust consensus under mild assumptions. The results answer the question on how much interaction is required for a multiagent network to converge despite a certain amount of input disturbance. The epsilon-convergence time is obtained for the consensus computation on directed and K-bidirectional graphs.
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