Convergence and State Reconstruction of Time-Varying Multi-Agent Systems from Complete Observability Theory
Date
2017
Authors
Anderson, Brian
Shi, Guodong
Trumpf, Jochen
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Volume Title
Publisher
Institute of Electrical and Electronics Engineers (IEEE Inc)
Abstract
We study continuous-time consensus dynamics for multi-agent systems with undirected switching interaction graphs. We establish a necessary and sufficient condition for exponential asymptotic consensus based on the classical theory of complete observability. The proof is remarkably simple compared to similar results in the literature and the conditions for consensus are mild. This observability-based method can also be applied to the case where negatively weighted edges are present. Additionally, as a by-product of the observability based arguments, we show that the nodes' initial value can be recovered from the signals on the edges up to a shift of the network average
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Keywords
Multi-agent systems, time-varying networks, signed networks, observability theory
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Source
IEEE Transactions on Automatic Control
Type
Journal article
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Open Access
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