[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
