The Deformed Consensus Protocol

Fabio Morbidi (1)

1 NECS - Networked Controlled Systems

This paper studies a generalization of the standard continuous-time consensus protocol, obtained by replacing the Laplacian matrix of the communication graph with the so-called deformed Laplacian. The deformed Laplacian is a second-degree matrix polynomial in the real variable s which reduces to the standard Laplacian for s equal to unity. The stability properties of the ensuing deformed consensus protocol are studied in terms of parameter s for some special families of undirected and directed graphs, and for arbitrary graph topologies by leveraging the spectral theory of quadratic eigenvalue problems. Examples and simulation results are provided to illustrate our theoretical findings.

Mots clés: Multi-agent systems; Consensus algorithms; Cooperative control; Sensor networks; Autonomous mobile robots

Domaines: Automatique

Fabio Morbidi. The Deformed Consensus Protocol. Automatica, 2013, 49 (10), pp.3049-3055. ⟨10.1016/j.automatica.2013.07.006⟩. ⟨hal-00961491⟩