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Multi-leader coordination algorithm for networks with switching topology and quantized information
Authors:Enric Xargay  Ronald Choe  Naira Hovakimyan  Isaac Kaminer
Affiliation:1. Coordinated Science Laboratory, University of Illinois at Urbana–Champaign, IL 61801, United States;2. Department of Mechanical and Aerospace Engineering, Naval Postgraduate School, CA 93943, United States
Abstract:This paper analyzes the stability and convergence properties of a proportional–integral protocol for coordination of a network of agents with dynamic information flow and quantized information exchange. In the setup adopted, each agent is only required to exchange its coordination state with its neighboring agents, and the desired reference rate is only available to a group of leaders. We show that the integral term of the protocol allows the agents to learn the reference rate, rather than have it available a priori, and also provides disturbance rejection capabilities. The paper addresses the case where the graph that captures the underlying network topology is not connected during some interval of time or even fails to be connected at all times.
Keywords:Consensus algorithms   Switching topology   Quantization
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