Convergence and State Reconstruction of Time-varying Multi-agent Systems\n from Complete Observability Theory

2015/12/19 by Brian D. O. Anderson, Guodong Shi, Anderson, Brian D. O. +3 · 1 citation
Computer Science · #Distributed Control Multi-Agent Systems #FOS: Electrical engineering #Neural Networks Stability and Synchronization #Nonlinear Dynamics and Pattern Formation #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.1512.06244

openalex publication_date 2015/12/19 · openalex created_date 2022/10/01 · openalex updated_date 2026/07/28

Abstract

We study continuous-time consensus dynamics for multi-agent systems with\nundirected switching interaction graphs. We establish a necessary and\nsufficient condition for exponential asymptotic consensus based on the\nclassical theory of complete observability. The proof is remarkably simple\ncompared to similar results in the literature and the conditions for consensus\nare mild. This observability-based method can also be applied to the case where\nnegatively weighted edges are present. Additionally, as a by-product of the\nobservability based arguments, we show that the nodes' initial value can be\nrecovered from the signals on the edges up to a shift of the network average.\n

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