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Global and invariant aspects of consensus on the n-sphere
Markdahl, Johan; Song, Wenjun; Hu, Xiaoming et al.
2016In Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems
Peer reviewed
 

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Abstract :
[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.
Disciplines :
Computer science
Author, co-author :
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)
External co-authors :
yes
Language :
English
Title :
Global and invariant aspects of consensus on the n-sphere
Publication date :
July 2016
Event name :
22nd International Symposium on Mathematical Theory of Networks and Systems
Event organizer :
University of Minnesota
Event place :
Minneapolis, United States - Minnesota
Event date :
12-07-2016 to 15-07-2016
Audience :
International
Main work title :
Proceedings of the 22nd International Symposium on Mathematical Theory of Networks and Systems
Pages :
440-447
Peer reviewed :
Peer reviewed
Focus Area :
Computational Sciences
Available on ORBilu :
since 24 July 2016

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