Topology preservation for multi-agent networks: design and implementation
Résumé
We consider a network of interconnected systems with discrete-time dynamics. Each system is called agent and we assume that two agents can interact as far as their states are close in a sense defined by an algebraic relation. In this work, we present several implementation strategies answering to different classical problems in multiagent systems . The primary goal of our methodology is to characterize the controllers that preserve a given interconnection subgraph that makes possible the global coordination. The second goal is to choose among these controllers those that ensure an agreement. This is done by solving a convex optimization problem associated to the minimization of a well-chosen cost function. Examples concerning full or partial consensus of agents with double-integrator dynamics illustrate the implementation of the proposed methodology