Convergence properties of dynamic agents consensus networks with broken links
Abstract
Convergence properties of distributed consensus protocols on networks of dynamical agents have been analyzed by combinations of algebraic graph theory and control theory tools under certain assumptions, such as strong connectivity. Strong connectivity can be regarded as the requirement that the information of each agent propagates to all the others, possibly with intermediate steps and manipulations. However, because of network failures or malicious attacks, it is possible that this assumption no longer holds, so that some agents are only receiving or only transmitting information from other subsets of agents. In this case, strong connectivity is replaced by weak connectivity. We analyze the convergence properties of distributed consensus on directed graphs with weakly connected components. We show conditions for which the agreement is reached, and, for the cases in which such conditions do not hold, we provide bounds on the residual disagreement.
Additional Information
© 2008 IEEE. S. Di Cairano and A. Bemporad were partially supported by the European Community through the Network of Excellence HYCON, FP6-IST-511368. S. Di Cairano and R.M. Murray were partially supported by Boeing through the project Model-Based Design and Qualification of Complex Systems.Attached Files
Published - 04586682.pdf
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Additional details
- Eprint ID
- 94074
- Resolver ID
- CaltechAUTHORS:20190322-145913467
- FP6-IST-511368
- European Community
- Boeing Corporation
- Created
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2019-03-22Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field