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 mailto [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 mailto [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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