期刊
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
卷 64, 期 4, 页码 1389-1402出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2018.2863203
关键词
Decentralized control; multi-agent systems
资金
- Vannevar Bush Fellowship from the Office of Secretary of Defense
- NSF CMMI award [1740452]
- Air Force [FA990-15-10394]
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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