Reference : Global and invariant aspects of consensus on the n-sphere |

Scientific congresses, symposiums and conference proceedings : Paper published in a book | |||

Engineering, computing & technology : Computer science | |||

Computational Sciences | |||

http://hdl.handle.net/10993/28049 | |||

Global and invariant aspects of consensus on the n-sphere | |

English | |

Markdahl, Johan [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >] | |

Song, Wenjun [KTH Royal Institute of Technology > Department of Mathematics] | |

Hu, Xiaoming [KTH Royal Institute of Technology > Department of Mathematics] | |

Goncalves, Jorge [University of Luxembourg > Luxembourg Centre for Systems Biomedicine (LCSB) > >] | |

Jul-2016 | |

Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems | |

440-447 | |

Yes | |

International | |

Minneapolis | |

MN | |

22nd International Symposium on Mathematical Theory of Networks and Systems | |

12-07-2016 to 15-07-2016 | |

University of Minnesota | |

Minneapolis | |

MN | |

[en] This paper concerns two aspects of the multi-
agent consensus problem on the n-sphere. Firstly, it proves that a standard consensus protocol, in a certain sense, yields asymptotical stability on a global level for a nontrivial class of graph topologies. Secondly, it provides a novel consensus protocol that leaves the centroid of agent states in Rn+1 projected back to the sphere invariant. It hence becomes possible to determine the consensus point as a function of the initial states. Much of the stability analysis has an intuitive geometric appeal since it is based on the symmetries of the n-sphere rather than generic Lyapunov theory. | |

Researchers | |

http://hdl.handle.net/10993/28049 |

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