Performance and Design of Consensus on Matrix-Weighted and Time-Scaled Graphs

Open access
Date
2020-12Type
- Journal Article
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. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000461784Publication status
publishedExternal links
Journal / series
IEEE Transactions on Control of Network SystemsVolume
Pages / Article No.
Publisher
IEEESubject
H2 performance; matrix-weighted networks; multi-time scale consensus; multiagent systemsOrganisational unit
03751 - Lygeros, John / Lygeros, John
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