Performance and Design of Consensus on Matrix-Weighted and Time-Scaled Graphs
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Date
2020-12
Publication Type
Journal Article
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yes
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Abstract
In this article, we consider the ${\mathcal {H}_2}$ -norm of networked systems with multi-time-scale consensus dynamics and vector-valued agent states. This allows us to explore how measurement and process noise affect consensus on matrix-weighted graphs by examining edge-state consensus. In particular, we highlight an interesting case where the influences of the weighting and scaling on the ${\mathcal {H}_2}$ -norm can be separated in the design problem. We then consider optimization algorithms for updating the time-scale parameters and matrix weights in order to minimize network response to injected noise. Finally, we present an application to formation control for multivehicle systems.
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published
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Journal / series
Volume
7 (4)
Pages / Article No.
1812 - 1822
Publisher
IEEE
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Software
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Subject
H2 performance; matrix-weighted networks; multi-time scale consensus; multiagent systems
Organisational unit
03751 - Lygeros, John / Lygeros, John