Title :
Robustness of noisy consensus dynamics with directed communication
Author :
Young, George Forrest ; Scardovi, L. ; Leonard, N.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Princeton Univ., Princeton, NJ, USA
fDate :
June 30 2010-July 2 2010
Abstract :
In this paper we study robustness of consensus in networks of coupled single integrators driven by white noise. Robustness is quantified as the H2 norm of the closed-loop system. In particular we investigate how robustness depends on the properties of the underlying (directed) communication graph. To this end several classes of directed and undirected communication topologies are analyzed and compared. The trade-off between speed of convergence and robustness to noise is also investigated.
Keywords :
closed loop systems; directed graphs; network theory (graphs); white noise; H2 norm; closed-loop system; coupled single integrators; directed communication graph; noisy consensus dynamics; white noise; Context; Convergence; Hydrogen; Multiagent systems; Noise measurement; Noise robustness; Protocols; Robust control; Uncertainty; White noise;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5531506
