Stability of multiagent systems with time-dependent communication links
Moreau, L.
Sidmar, Ghent, Belgium;
This paper appears in: Automatic Control, IEEE Transactions on
Publication Date: Feb. 2005
Volume: 50,
Issue: 2
On page(s): 169- 182
ISSN: 0018-9286
INSPEC Accession Number: 8285286
Digital Object Identifier: 10.1109/TAC.2004.841888
Current Version Published: 2005-02-14
Abstract
We study a simple but compelling model of network of agents interacting via time-dependent communication links. The model finds application in a variety of fields including synchronization, swarming and distributed decision making. In the model, each agent updates his current state based upon the current information received from neighboring agents. Necessary and/or sufficient conditions for the convergence of the individual agents' states to a common value are presented, thereby extending recent results reported in the literature. The stability analysis is based upon a blend of graph-theoretic and system-theoretic tools with the notion of convexity playing a central role. The analysis is integrated within a formal framework of set-valued Lyapunov theory, which may be of independent interest. Among others, it is observed that more communication does not necessarily lead to faster convergence and may eventually even lead to a loss of convergence, even for the simple models discussed in the present paper.
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