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Communication Dans Un Congrès Année : 2020

Robust Consensus and Connectivity-maintenance under Edge-agreement-based Protocols for Directed Spanning Tree Graphs

Résumé

We address the consensus problem with connectivity maintenance for networks of multi-agent systems interconnected over directed spanning tree graphs in the edge-agreement space and, for the first time in the literature, we provide a strict Lyapunov function. The importance of this contribution is that it allows to establish uniform global asymptotic stability of the consensus manifold for a multi-agent system subject to proximity constraints. Moreover, robustness in the sense of input-to-state stability with respect to external disturbances is also established. These properties have not been established before when dealing with state-dependent constraints, even for a class of directed graphs, because most often in the literature only non-uniform convergence to the consensus manifold is established.
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Dates et versions

hal-02917400 , version 1 (19-08-2020)

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Esteban Restrepo, Antonio Loria, Ioannis Sarras, Julien Marzat. Robust Consensus and Connectivity-maintenance under Edge-agreement-based Protocols for Directed Spanning Tree Graphs. IFAC 2020 - 21st IFAC World Congress, Jul 2020, BERLIN, Germany. pp.2988-2993, ⟨10.1016/j.ifacol.2020.12.978⟩. ⟨hal-02917400⟩
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